ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 29)

2.9.2 Automatically Tuning the Velocity Loop
Using the auto-tuning mode for this process provides more precise velocity loop tuning.
To set the auto-tuning options:
1. From the Step 1: Select the Tuning Type drop-down list, select one of the Auto
Tuning type options:
ƒ
Auto Tuning for Speed Design: for a stand-alone speed mode, in which the
drive
works only with the velocity loop.
ƒ Auto Tuning of Speed Design – Under Position Loop: when the drive receives
speed commands from the position controller. When selecting this option, be
sure that the position controller is not active during the tuning.
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 Expert tuning for bounded motion (default): In this mode, the motor swings
around a chosen fixed point. Use this option for linear motors and in cases where
the motor shaft must remain within position boundaries. In this mode, the
boundaries are designated by an algorithm based on system settings; they are
displayed before the tuning process begins. If the motion is not restricted, the
Expert tuning for free motion option yields even better results.
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 motion (angle and position); it gives more precise results.
Tuning
may be
noisy
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-21