ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 37)

2.10.2 Automatically Tuning the Position Loop
Using the auto-tuning mode provides more precise position loop tuning. This process is
almost identical with the auto-tuning process for the velocity loop.
To set the auto-tuning options:
1. From the Step 1: Select the Tuning Type drop-down list, select Auto Tuning for
Position Design.
When you make your auto-tune selection, the text boxes of the data box will change
accordingly.
2. In the Step 2: Select Auto Tuning Parameters block, select the tuning mode from the
Auto Tuning Mode drop-down list:
ƒ
Fast tuning: This mode is applicable for simple systems, where less precise
results are adequate. It can be used if there are no restrictions on the motion
boundaries, and if you prefer to minimize the time and power required by the
system during the identification stage. You should use this mode only if the
duration of the identification phase prevents the use of an Expert mode.
ƒ Expert tuning for bounded motion (default): In this mode, the motor swings
around a chosen fixed point. Use this option if the motor shaft must remain
within position boundaries. The boundaries are designated by an algorithm
based on system settings; they are displayed before the tuning process begins. If
the boundaries are beyond the physical possibilities of the application, the
Wizard will switch to manual tuning.
ƒ Expert tuning for free motion: In this mode, the motor rotates freely and is
therefore not applicable to linear motors. This option is recommended if there are
no restrictions on the system motion (angle and position); it gives more precise
results.
3. Use the Response slider to select the system performance margin that you require and
set the System Noise slider to the optimal plant noise level (refer to section 2.9.2 ).
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
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