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Epsilon Eb and EN Drives Reference Manual
Tuning Procedure
Once the initial setup has been completed, you can run the system to determine if the level of
tuning is adequate for the application. There are basically four levels of tuning for a drive.
• No Tuning
•Basic Level
• Intermediate Level
• Fully Optimized Level
Each level is slightly more involved than the previous one requiring you to enter more
information. If your system needs optimization, we recommend that you start with the Basic
Level, then determine if further tuning is needed based on axis performance.
The setup procedures explained here assume that you are using PowerTools software or an
FM-P.
Initial settings
Pulse Mode (with or without a position controller)
Velocity Mode (without a position controller)
If you are using the drive in Pulse mode with or without a position controller or as an open
loop velocity drive only, set the drive tuning parameters as follows:
• Inertia Ratio = 0
• Friction = 0
• Response = 50
• High Performance Gains = Enabled
• Feedforwards = Disabled
Velocity Mode (with a position controller)
If you are using the drive in Velocity mode with a position controller, set the drive tuning
parameters as follows:
• Inertia Ratio = 0
• Friction = 0
• Response = 100
• High Performance Gains = Enabled
• Feedforwards = Disabled
Torque Mode (with or without a closed loop position controller)
If you are using the drive in Torque mode, without Stop inputs or Travel Limit inputs, no
tuning is required.
If you are operating in Torque mode and you are using the Stop or Travel Limit inputs, you
must setup the drive as if it were running in Velocity mode without a position controller. This
is because the drive will automatically shift into Velocity mode when either of these functions
is activated and will use the gain setups when decelerating and holding position.
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