ElmoMC SimplIQ Servo Drives Composer User Manual User Manual
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3. Use the Response slider to select the system margin you require:
Choose a value towards Fast and Sensitive if you require a more responsive
(agile) system.
Choose a value towards Slow and Stable if you need a more robust system,
which is required in a number of cases, among them:
Machines whose mechanics may vary, as when handling loads of different
masses
A machine type that uses one type of control parameters, although the
mechanics of each machine may differ from each other.
4. Use the System Noise slider to set the plant noise level: a value towards Slow and
Quiet reduces the system noise more effectively. It is recommended to start with an
average level and then observe the step response at the plant input. The current is
built from two signals: a part that varies slowly due to the reference command and a
signal that varies quickly due to system noise. If the noise saturates the plant or its
fast-varying signal at the plant output, adjust the System Noise level accordingly.
Then run the test again.
5. To manually select the test parameters — rather than having the Wizard calculate
them for you — click the Customize Test checkbox, and in the Displacement and
Velocity text boxes, enter the values that define the step command to be used for
testing:
-Displacement and +Displacement are the upper and lower limits in which the
system may move. The default value for automatic mode, for both parameters, is
one revolution divided by the number of electric poles in a revolution.
Velocity is the square wave speed reference amplitude command.
6. 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. The smooth factor is
used to “soften the sharp corners” of the motion speed profile, according to
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.
7. In the Step 4: Set Record Parameters block, 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.
8. Click Run Auto Tuning to start the auto-tuning design process. If the automatic test
parameters have been selected (the Customize Test checkbox is not selected), the
Wizard will automatically set the test parameters according to the current, speed and
displacement limitations of the controller, giving what should be the optimal results.
During the test, the motor will move backwards and forward, recording the step
response. The results will be displayed in a step response graph comparing the
velocity and the current command, as in the following example:
Composer User Manual
Using the Wizard
MAN-COMPUM (Ver. 1.9)
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