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Axis Attributes Attribute Axis Type Data Type Access Description Tuning Configuration Bits AXIS_SERVO DINT AXIS_SERVO_DRIVE GSV SSV 355 Bits 0 = Tuning Direction Reverse 1 = Tune Position Error Integrator 2 = Tune Velocity Error Integrator 3 = Tune Velocity Feedforward 4 = Tune Acceleration Feedforward 5 = Tune Output Low-Pass Filter 6 = bidirectional Tuning 7 = Tune Friction Compensation 8 = Tune Torque Offset Tuning Direction Reverse The Tune Direction Reverse bit determines the direction of the tuning procedure. If this bit is set (true), motion is initiated in the reverse (or negative) direction. Tune Position Error Integrator If this bit is: • ON — The tuning procedure calculates the Position Integral Gain. • OFF — The tuning procedure sets the Position Integral Gain to 0. Tune Velocity Error Integrator If this bit is: • ON — The tuning procedure calculates the Velocity Integral Gain. • OFF — The tuning procedure sets the Velocity Integral Gain to 0. Tune Velocity Feedforward If this bit is: • ON — The tuning procedure calculates the Velocity Feedforward Gain. • OFF — The tuning procedure sets the Velocity Feedforward Gain to 0. Tune Acceleration Feedforward If this bit is: • ON — The tuning procedure calculates the Acceleration Feedforward Gain. • OFF — The tuning procedure sets the Acceleration Feedforward Gain to 0. Tune Output Low-Pass Filter If this bit is: • ON — The tuning procedure calculates the Output Filter Bandwidth. • OFF — The tuning procedure sets the Output Filter Bandwidth to 0, which disables the filter. Continued on next page Publication LOGIX-UM002B-EN-P - January 2007
