258 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
These are the attributes that are associated with auto-tune configuration of a
Motion Control Axis.
System Damping
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - C
(Derived from
Damping Factor)
Set/SSV
REAL 1 0.5 2.0
A Set or SSV to the System Damping attribute value calculates and updates the
System Bandwidth based on the current Drive Model Time Constant value
(DMTC) and then calculates and updates the applicable loop gain attribute
values. The System Damping attribute is designed to be used to implement a single
'knob' Manual Tuning procedure.
A larger damping factor increases the ratio between the inner and outer Loop
Bandwidths. In general, the System Damping attribute controls the dynamic
response of the overall control loop.
• Position Loop Operation
If the drive is configured for Position Loop operation, the following
calculation is performed and the resulting value applied to the System
Bandwidth attribute:
System Bandwidth = 1/16 Damping Factor
4
* 1/DMTC
• Velocity Loop Operation
If the drive is configured for Velocity Loop operation the following
calculation is applied:
System Bandwidth = 1/4 Damping Factor
2
* 1/DMTC
• Load Coupling
If the Load Coupling is a 'Compliant' selection and the Use Load Ratio bit
is set in the Gain Tuning Configuration Bits attribute, then the resultant
System Bandwidth above is divided by the Load Ratio value.
System Bandwidth /= (Load Ratio + 1)
• System Bandwidth Value
In addition to updating the System Bandwidth value, the equations
associated with setting the System Bandwidth value are also run.
The value for this attribute can also be updated using the Damping Factor
attribute. When derived from the Damping Factor attribute, no
Attributes
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