Rockwell Automation Publication 750-AT006D-EN-P - January 2022 75
Chapter 4 Auto Tuning
Is Further Tuning Required?
Here are some observations to indicate that the drive does not require additional tuning:
• Visibly smooth non-oscillatory velocity feedback from a smooth cycle profile
• Little to no audible noise produced during and after a commanded motion
• Position and/or velocity errors are repeatable and within the application requirements
• The reference move type keeps the drive and motor within their thermal limits
If the load does not respond as intended, consider these factors before tuning:
• Investigate proper motor and drive sizing in Online Motion Analyzer. You may also want to compare various design options for gear
ratio, load size, coupling configuration, high versus low-resolution feedback devices, reference move types, and so on.
• Simulate the load in online Motion Analyzer software to conclude that the desired motion can be achieved. Problems are often
minimized by creating a more direct and stiff coupling between the motor and load. Quality mechanical components, such as
couplings, gearboxes, actuators, and guides help to achieve this.
• If the motor or the gearbox overheats, and further investigation concludes that proper sizing of motor, drive, and gearbox was
performed, evaluate the machine to identify potential issues:
- Misalignments between load and gearbox
- Damaged mechanical components
- Poor lubrication
- Belt misalignments
- Improper tensioning
If the load requires additional tuning, continue to Manual Tuning
on page 76.
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