ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 41)

Remember:
ƒ
You can remove bookmarks using the Clear All Bookmarks option from
the right-click shortcut menu.
ƒ You can also automatically accept all rows of the table by selecting the
Accept ALL option from the shortcut menu. (Use Clear All Accepts to
remove all checks.)
4. To modify the gain schedule table further, repeat steps 2 and 3 as necessary.
5. To save your final gain schedule table, click Save GS Table. In the Save As dialog
box, enter a name for the file, browse to the location at which it should be saved, and
click Save. The system will save the table, along with its bookmarks.
2.11 Tuning the Dual Loop
Tuning a dual loop is very similar to tuning a position loop. As with the position loop,
the Wizard performs the test using point-to-point (PTP) motions and the Composer
records the PTP performance and compares it to the PTP trajectory. Like the velocity and
position loops, you have three options:
ƒ
Manual tuning , in which you manually configure the position loop by entering each of
the required parameters.
ƒ Automatic tuning , in which you select the level of fine tuning, and let the Composer
determine the needed parameters automatically.
ƒ Advanced manual tuning , in which you create or modify a gain schedule table that
operates for a range of velocities.
When you select Step 5, Tuning Dual Loop in the Establishing Commutation dialog box
or when you finish the Tuning Velocity Loop process, the Tuning Dual Loop dialog box
is displayed as follows:
Select the tuning mode from the Step 1: Select Tuning Type drop down list.
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-33