194 Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Chapter 7 Configure and Start the Kinetix 6500 Drive System
Tune the Axes
The load observer feature (available with drive firmware revision 2.001 or
later) can provide good performance without having to tune your axis. Using
load observer with auto-tuned gains can maximize system performance. Refer
to Motion System Tuning Application Techniques, publication MOTION-
AT005, for more load observer information. Refer to the Load Observer
Feature section.
Follow these steps to tune the axes.
1. Verify the load is still removed from the axis being tuned.
2. Click the Autotune category.
3. Type values for Travel Limit and Speed.
In this example, Travel Limit = 5 and Speed = 10. The actual value of
programmed units depend on your application.
4. From the Direction pull-down menu, choose a setting appropriate for
your application.
Forward Uni-directional is default.
5. Edit other fields as appropriate for your application.
ATTENTION: To reduce the possibility of unpredictable motor
response, tune your motor with the load removed first, then re-
attach the load and perform the tuning procedure again to provide
an accurate operational response.
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