ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 33)

Note:
To use a gain schedule table created through auto-tuning or from a previous
advanced manual tuning sessions, click Load GS Table at the bottom and
select the desired file from the Open dialog box.
2. The recommended procedure for determining the appropriate gain values for a
specific velocity is as follows:
a. Be sure that the Gain Scheduling ON check box (in the middle) is not selected
and that the Advanced Filter Designer is OFF. Select a velocity value from the
list or enter a new velocity value in a row appropriate to its place in the velocity
range.
b. Enter values for the Vel. Loop KP (proportional gain) and Vel. Loop KI
(integral gain) coefficients.
c. In the -Displacement and +Displacement text boxes, be sure that the values are
relevant for the selected velocity. Change them as needed.
d. In the Step 4: Set Record Parameters block, select the desired recording
parameters:
ƒ Record Resolution (μsec) is the test data record resolution.
ƒ Maximum Record Time (sec) is the test data record time length.
e. Click Run Test. The system will send the gain coefficients for the selected row
to the drive and the motor will operate at the selected velocity, turning
according to the -Displacement and +Displacement values. The recorder will
automatically record the feedback, command and current, and display the
results for you to determine if the values you entered are appropriate.
f. If needed, modify your values, repeating steps b. through f. until you are
satisfied that the gain values for that velocity are acceptable. You may then
highlight the row to indicate that it has been tested satisfactorily. To do so, click
the right mouse button and from the shortcut menu, select Toggle Bookmark.
The row with the bookmark will be highlighted in a light color.
g. Repeat steps b. through g. for one or more other velocity values until you are
satisfied that you have determined a representative amount of recommended KI
and KP values.
3. You may have the Wizard complete the gain schedule table for you and then test the
entire table with gain scheduling. To do so, perform the following procedure:
a. Check the Gain Scheduling ON check box.
b. In the row indicating the lowest velocity value for the range to be filled in, and
in the row indicating the highest value in the range, select Accept.
c. Click Interpolate. The Wizard will calculate KP and KI values for all velocities
in the range between the lowest row in which you checked Accept and the
highest row in which you checked Accept. Rows before and after that range will
take the values of the first and last Accepted row, respectively.
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-25