Allen-Bradley MPAI-A C Series Installation Instructions Manual page 38

MP-Series Heavy-duty Electric Cylinders
Calculate and Configure the Loop Gain
Calculate a position loop bandwidth based on the actual measured inertia values from the Tune
Results dialog box.
In this example, the Tune Results dialog box shows a default Position Loop Bandwidth of
45.14153 Hz, and a Load Inertia Ratio of 6.8707952.
1. Calculate the Corrected Position Bandwidth.
Corrected Position Loop Bandwidth = (Initial Position Loop Bandwidth Result/(Initial
Load Inertia Ratio Result +1)
For example, 5.73532 = 45.14153/7.8707952
2. Enter the Corrected Position Bandwidth value 5.73532 as the Position Loop
Bandwidth.
3. Click OK.
4. Answer the remaining dialog boxes to apply the values.
The proper Position Bandwidth results in a stable starting point, where you can adjust the gains
to fit your application requirements.
38 Rockwell Automation Publication MPAI-IN001F-EN-P - January 2016