Hypertherm THC ArcGlide - Manual (Page 121)

ArcGlide THC Instruction Manual 806450 121
2 – Installation
ArcGlide axis setup parameters
Gains
Gains enable controlled speed and motion from a closed-loop servo system and reduce the effect of position errors in
these systems. Gains can correct following error that occurs as a result of mechanical delays, friction and load, or
uncontrolled speed.
Each gain value is a multiplier that modifies the output from the encoder and brings this output closer to the set point.
Motion tuning involves adjusting gains to reduce error as much as possible and to make sure cutting performance is
reliable.
Gains are often interrelated and the value for one gain parameter can have an influence on the performance of other
gains. Therefore, motion tuning is experimental and requires multiple tests to reach a set of appropriate values for your
system and application.
Most gains affect the raising and lowering of the torch, and improve the accuracy of the initial height sense motion.
Voltage gain is the only gain that affects cutting.
The following definitions provide the default or recommended value for each parameter. These values are appropriate for
the majority of applications.
Speed: This gain value regulates the speed of the lifter. Set Speed Gain after you enter the value for Maximum Speed.
Set the Maximum Speed before optimizing Speed Gain.
Optimize the Speed Gain value before attempting to change either the Position or Voltage gains. Manual
motion and approaching the workpiece during automatic IHS require regulated speeds. If this value is too
high, the lifter speed regulation will become unstable and prone to oscillation. If this value is too low, the
speed regulation can become slow and inaccurate. Test this value by repeatedly raising and lowering the
lifter in Manual mode. To optimize this gain, raise this value until there is a very slight oscillation during manual
operation and then reduce the setting by 1.
Range: 1 to 10; Setting: 5
Position: This gain is a multiplier for closed-loop positioning. Adjust Position Gain after you find the appropriate value for
Speed Gain.
The THC uses position-based moves to move the torch to the IHS height and to the retract height at the end
of a cut.
If this value is too high, the lifter positioning will become unstable and prone to oscillation. If this value is too
low, the positioning can become slow and inaccurate.
Test this gain by repeatedly executing IHS TEST and checking that the lifter quickly and accurately reaches
the IHS and Retract Heights.
To optimize this gain, raise the value until there is a very slight oscillation when the torch settles into the IHS
or Retract positions and then reduce the setting by 1.
Range: 1 to 10; Setting: 5