ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 28)

4. In the Step 3: Set Test Parameters block of the Tuning Velocity Loop dialog box,
enter the Displacement and Velocity values (selecting the Velocity Unit that is
convenient to you). Together, these settings define the step command to be used
during testing. The -Displacement and +Displacement values (in encoder units)
indicate the upper and lower limits in which the system moves during the test phase.
The default value is one revolution divided by the number of electric poles in a
revolution.
5. You may use the Profiler (select the Profiler Mode checkbox) to profile a response
according to values that you set. In Profiler mode, you define the velocity command
according to Smooth Factor, Acceleration and Deceleration. Smooth factor is used
to “soften the sharp corners” of the motion speed profile, according to the
acceleration and deceleration values that you define. Smoothing a profile increases
the time required to complete the motion, due to higher acceleration and
deceleration times.
6. In Step 4: Set Record Parameters, select the desired recording parameters as follows:
ƒ Record Resolution (μsec) is the test data record resolution.
ƒ Maximum Record Time (sec) is the test data record time length.
7. Click Run Test to begin the manual velocity loop tuning. The motor will begin to
move back and forth, and the system will record the step response. Upon
completion, the motor will be disabled and a step response graph will be displayed,
as in the following example:
Figure 2-1: Step Response Graph - Manual Velocity Loop Tuning
8. Evaluate the results in the graph and repeat steps 2 to 6 as necessary.
9. Click Run Test to repeat the tuning process and to produce an updated graph.
10. Repeats steps 8 and 9 until your graph indicates optimal tuning.
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-20