ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 27)

You may tune the velocity loop manually ( section 2.9.1 ), have the Wizard perform
automatic tuning ( section 2.9.2 ) or perform advanced manual tuning ( section 2.9.3 ).
2.9.1 Manually Tuning the Velocity Loop
1. From the Step 1: Select the Tuning Type drop-down list, select Manual Tuning. The
dialog box will remain with its default settings for manual tuning.
2. In the KP and KI text boxes, type the required proportional gain and integral gain
filter values for optimal step response.
3. In certain cases, you may wish to manually fine-tune the frequency and resonance
definitions by designing a custom filter. To do so, click the Designer button in the
Advanced Filter block. If the existing filter cannot be edited (because it has been
created by the auto-tuner or if the system sampling time has changed from the last
filter modification), the following message will be displayed:
Click Yes to open the Filter Designer in order to create a new filter, or No to view the
parameters and Bode plot of the existing filter.
The Filter Designer dialog box will be displayed as follows:
This dialog box enables you to select a filter component and — using the Bode plots
— determine how it may reduce resonance at selected frequencies. Each filter
consists of two components: Second order component and Pole component. You
may define each component or disable it by selecting None. Full details for
designing a new filter are given in the
Appendix to this manual.
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-19