AB Quality Allen-Bradley 1394 User Manual page 141

[ATune Frictn]
The system friction as measured by the auto tune
cycle is represented through this parameter.
[ATune Inertia]
System inertia as measured by auto tuning. This
parameter is calculated during auto tune and is
the time that the motor and load takes to reach
[ATune Vel] at [ATune Current] and back to zero
rpm. This needs no manual user adjustment,
since it is a product of the auto tune function. To
determine the inertia of the machine system, use
the following formula:
[ATune Select]
This parameter initiates an auto tune cycle that
measures the [ATune Inertia] and [ATune Frictn]
by accelerating the motor up to the [ATune Vel]
at the [ATune Current]. The parameter also
calculates the gains based on auto tune
information.
[ATune Vel]
This parameter specifies the maximum velocity
of the motor attained during an auto tune cycle,
as well as direction of movement.
Configuring Your 1394 Analog Servo System
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Change While Running
Linkable
Minimum Value
Maximum Value
Default Value
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Change While Running
Linkable
Minimum Value
Maximum Value
Default Value
[AutoTuneInertia]
Rotor
J =
*
system
[MtrInertia]
0.83
*
Note: The value for rotor inertia (lb-in.-s ) is listed on the servo motor performace data table in Appendix A .
Parameter Numbers
Parameter Group
Parameter Type
Change While Running
Linkable
Default Value 0
Selections 0
1
2
Parameter Numbers
Parameter Group
Display Units
Parameter Type
Change While Running
Linkable
Minimum Value
Maximum Value
Default Value
300, 301, 302, 303
ATune Config
%
Read/Write
Yes
No
0%
12%
6%
292, 293, 294, 295
ATune Config
msec
Read/Write
Yes
No
0 msec
10000 msec
5 msec
inertia
2
296, 297, 298, 299
ATune Config, Startup Parms
Read/Write
Yes
No
"idle"
"Idle" Indicates the auto tune system can be used, written
command forces the system to idle.
"Axis Tune" Written as a command, initiates the auto tune
process, messages will be displayed to enable axis,
wait, disable axis. "Calculate" is also performed.
"Calculate" Calculates gain coefficients based off data acquired
during auto tuning. This command can be issued
manually to calculate gains after manual
modifications to the auto-tune acquired information.
284, 285, 286, 287
ATune Config
rpm
Read/Write
Yes
No
-2000.0 rpm
+2000.0 rpm
+1000.0 rpm
8-5
Publication 1394-5.0 — May 2000