text: <s>[INST] Variable High Inertia Servo Tuning Summary: Kinetix6000 servo driving a variable high inertia loadThis maching was built by someone else some years ago and we're still having issues with it. I have a Controllogix motion driving a series A Kinetix6000 servo rack. My trouble component is a rotary positioning table. The servo has about 1750:1 ratio to the table and an auxiliary encoder directly reading the table. Dry table to motor ratio is about 1:1. However, max load is around 40:1. We're finding we have to change loop tuning to prevent oscillation. Most moves are either jog or index. However, I have some times where I need to electronically gear it as a slave to a vertical axis for tracking helical motions and I need to keep a solid position lock. Is there any simple method to adjust tuning to keep the dynamic similar? I'm already changing velocity and acceleration profiles in the motion function blocks on the fly based upon part data to keep current and torque limits within reach. [/INST] You can create code to swap gains depending on the step in your cycle. Record the necessary gains for each step, load them into an array, and then move the array values into the servo gain tags before beginning each move. \\n </s>