Rockwell Automation Publication MOTION-QS001C-EN-P - November 2018 7
Tuningless Features for Kinetix 5500 and Kinetix 5700 Servo Drives
Additional Considerations
For more detailed technical information on the operation of the load observer or adaptive tuning features, see Chapter 1
of Motion System Tuning Application Techniques, publication MOTION-AT005
.
Notch Filter Initialization
See Knowledgebase article number 1071465 for details on how to retain the notch filter settings when power is removed
and reapplied to the system.
Increased Performance
Manual tuning may be used if higher performance is required after applying the default load observer gain values. It is
recommended that you incrementally increase the bandwidth values while maintaining the following relationships:
For Position Loop Control
• Load Observer Bandwidth = 4 x Velocity Bandwidth = 16 x Position Bandwidth
For Velocity Loop Control
• Load Observer Bandwidth = Velocity Bandwidth
The bandwidth values can be increased until the desired system performance is achieved.
To reduce following error, it is recommended that Integrator Bandwidth be applied according to the following
relationship:
For Position Loop Control
• Position Integrator Bandwidth = Position Bandwidth/100
For Velocity Loop Control
• Velocity Integrator Bandwidth = Velocity Bandwidth/10
The integrator bandwidth value can be adjusted until the desired system performance is achieved. It is not recommended
to use the position and velocity integrators simultaneously.
For more detailed technical information on manual tuning, see chapter 4 of Motion System Tuning Application
Techniques, publication MOTION-AT005
.
TIP It is recommended that Position Loop control is used for velocity applications unless application requirements dictate Velocity
Loop control.
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