ElmoMC SimplIQ Servo Drives Composer User Manual User Manual
Page 39
2.10.3 Performing Advanced Manual Tuning - Position Loop
As explained in
section
, the advanced manual tuning procedure can be used to
manually define the gain schedule table. You may define any number of gain scheduling
values and have the Wizard interpolate the entire list. For positioning loop tuning, you
may use a list previously defined during velocity loop tuning.
To perform advanced manual tuning for the position loop:
1. From the Step 1: Select the Tuning Type drop-down list of the Tuning Position
Loop dialog box, select Advanced Manual Tuning. The dialog box will be
redisplayed as follows:
Because a PI controller is used for velocity, and a different — PID.— controller is
used for position, the KP, KI and KD values will need to be defined for this gain
schedule, even if a gain schedule was created previously during velocity tuning.
Note:
To use a gain schedule table created previously, click Load GS Table at the
bottom and select the desired file from the Open dialog box.
2. The recommended procedure for determining the appropriate gain values for a
specific velocity is as follows:
a. Be sure that the Gain Scheduling ON check box (in the middle) is not selected
and that the Advanced Filter Designer is OFF.
c. Select an existing velocity or enter a new velocity value in a row appropriate to
its place in the velocity range.
Composer User Manual
Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-31