80 Rockwell Automation Publication 750-AT006D-EN-P - January 2022
Chapter 5 Manual Tuning
4. After the tuning with the alternate feedback is complete, set 10:1019 [Fb Loss Action] back to Auto Tach SW (2).
Tune the Position Loop (Optional)
Follow these steps to manually tune the position loop after tuning the velocity loop in the previous section.
1. Run the drive (indexing move) and slowly increase 10:1755 [u PReg Kp] while looking for unstable behavior in a velocity error signal.
a. Continue increasing 10:1755 [u PReg Kp] until ringing occurs in torque signals or an audible noise exists at any time while tuning.
b. Stop and restart motion after each modification of 10:1755 [u PReg Kp].
2. Continue increasing 10:1755 [u PReg Kp] until a low pitch growling sound occurs or when oscillation occurs in the velocity error or
torque signals. You are at the point where instability begins and 10:1755 [u PReg Kp] cannot be increased any further.
3. Decrease 10:1755 [u PReg Kp] by dividing it by 2. Decreasing this parameter establishes a sufficient stability margin.
4. Determine which integrator and feed-forward gains are required for your application.
a. See Application Types
on page 79 to reference some common application types and which ones are enabled or given nonzero
values.
b. Typical ranges for integrator and feed forward gains are given:
0 ≤ K
VFF
≤ 100
0 ≤ K
I
≤ K
P
/ 4
IMPORTANT Switchover
A feedback switchover happens when 10:1019 [Fb Loss Action] = Auto Tach SW (2), and encoder feedback loss
fault happens. The drive then switches the feedback device from the primary encoder to the alternate encoder
that can be a second encoder connected to an optional encoder module, or the Open Loop Virtual Encoder.
Independently of the type of alternate feedback, follow the Case b procedure to tune velocity loop to the
performance that the drive will present when operating with the alternate feedback in the event of a
switchover.
IMPORTANT Make sure the drive stays set with 10:905 [System C/U Select] = User Entered (1) after finishing this manual
tuning procedure.
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