2 automatically tuning the dual loop – ElmoMC SimplIQ Servo Drives Composer User Manual User Manual
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2.11.2 Automatically Tuning the Dual Loop
Using the auto-tuning mode provides more precise position loop tuning. This process is
almost identical with the auto-tuning process for the velocity loop.
Set the auto-tuning options as you did in the Tuning Velocity Loop dialog box:
1. From
the
Step 1: Select the Tuning Type drop-down list, select Auto Tuning for
Dual Loop Design.
When you make your selection, the text boxes of the data box will change accordingly.
2. In
the
Step 2: Select Auto Tuning Parameters block, the Expert tuning for bounded
motion option will be selected; it is the only option available for dual loops.
3. Use
the
Response slider to select the system performance margin that you require and
set the System Noise slider to the optimal plant noise level (refer to
section
).
4. In the middle of the dialog box, the Wizard displays the default test parameters. To
manually define these values, click Custom Test and enter the following values in
the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks:
Step: the level at which the step command begins, at the system location prior to
the start of the test.
Speed: the maximum speed allowed for the PTP motion. This value may not be
reached if the motion distance and the allowed accelerations are small.
Smooth Factor: the time required to reach full acceleration.
Acceleration: the rate at which the profiled motion gains speed.
Deceleration: the rate at which the profiled motion slows down.
Record Resolution (μsec) is the test data record resolution.
Maximum Record Time (sec) is the test data record time length.
Composer User Manual
Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-2