1 manually tuning the dual loop – ElmoMC SimplIQ Servo Drives Composer User Manual User Manual
Page 42
Composer User Manual
MAN-COMPUM (Ver. 1.9)
2-1
2.11.1 Manually Tuning the Dual Loop
1. From
the
Step 1: Select the Tuning Type drop-down list, be sure that Manual
Tuning is selected. The dialog box will remain with its default settings.
2. In
the
Step 2: Adjust Filter Parameters block, type the filter values required for
optimal step response in the KP and KI (proportional gain and integral gain) text
boxes of both the the Inner Velocity Loop and Output Position Loop blocks.
You may click the Designer button in the Advanced Filter block to better define the
filter values. Refer to
section
for general instructions, and to the
Appendix
for
detailed explanations about using the Filter Designer.
3. In
the
Step 3: Set Test Parameters block, enter the parameters needed to define the
motor position. These values defines the step command to be used for testing.
Step: the level at which the step command begins, at the system location prior to
start of the test.
Speed: the maximum speed allowed for the PTP motion. This value may not be
reached if the motion distance and the allowed accelerations are small.
Smooth Factor: the time required to reach full acceleration.
Acceleration: the rate at which the profiled motion gains speed.
Deceleration: the rate at which the profiled motion slows down.
4. In
Step 4: Set Record Parameters, select the desired recording parameters:
Record Resolution (μsec) is the test data record resolution.
Maximum Record Time (sec) is the test data record time length.
5. Click
Run Test to begin the dual loop tuning. The motor will begin to move back
and forth and the system will record the step response. Upon completion, a step
response graph will be displayed for evaluation.
Figure 2-4: Step Response Graph - Dual Loop Tuning
6. As in previous tests, revise your values as necessary and rerun the tests until the
results are satisfactory.