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value is exceeded during operation, the Axiom Plus will fault out
(“F55”).
Ipb
(In-Position Band) Any time the unit’s following error is less
than or equal to this number, the In Position state will be
true(1). If the following error is greater than this value, the In
Position bit flag (IS 006)will be (0).
Note: For most applications, the feed forward settings should be left at
zero (0). Aff helps compensate for inertia and helps with system
damping, while Vff helps compensate for viscous friction.
Now that you are familiar with the controls in this section, you are
ready to perform the initial and final tuning of your system.
Drive Tuning
AUTO TUNING
To perform Auto Tune function:
1. Select On Line Tuning and Diagnosis from the main menu.
2. Select Drive-Stage Tuning button (see above).
3. Click command button “for Automatic Tuning”.
4. Make sure the system is enabled. As discussed previously, the drive
may be software disabled from this screen, but cannot be enabled
unless the Enable input is active (via the PLC).
5. Use the “Start CW” and/or “Start CCW” command buttons to initiate
tuning steps. Caution: Motor motion will occur in the designated
direction.
6. When the auto tune function is complete, the motor will stop and
the PID tuning values will be displayed. These values can be
accepted or rejected. Before accepting or rejecting calculated gain
parameters, the software allows the user to adjust the bandwidth of
the system via a scroll bar. Lower bandwidths are appropriate for
systems with high-inertia loads and/or poor coupling (compliance
or bandwidth). Higher values of bandwidth give the best
performance with stiffly coupled systems.
The Auto Tune function will normally provide stable tuning values.
However, these will not necessarily be optimal values. It is
recommended that the user proceed to the manual tuning section
and use the oscilloscope functions to observe the response. The
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