242 Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Appendix D Configure the Load Observer Feature
Out-of-Box Gain Settings
This method of setting controller gains works for unknown loads or when an
auto-tune is not performed. It produces a relatively high level of performance
in 90% of motion applications. Most of the time, there is no need to perform
an auto-tune procedure or further optimize gain settings.
Follow these steps to configure the drive for high performance right out of the
box. This procedure uses load observer to automatically account for the
unknown load. As a result, you must be familiar with creating an axis in the
Logix Designer application and accessing drive IDN parameters.
1. Create a new axis with type AXIS_SERVO_DRIVE.
If you need more information to create a new axis, refer to Configure the
Kinetix 6000 Drive Modules on page 146
.
2. Click the Drive/Motor tab in the Axis Properties dialog box and add a
motor.
If you need more information to add a motor, refer to Configure Axis
Properties on page 151
.
3. Click the Gains tab in the Axis Properties dialog box.
The current Velocity Proportional Gain (Initial Kvp) value is used to
recalculate other gain values.
4. Make the following calculations:
a. Load Observer Bandwidth: Kop = Velocity Proportional Gain x 2.56
b. Velocity Loop Bandwidth: Kvp = Kop/4
TIP Try this method before executing Auto-tune.
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