ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 32)

2.9.3 Performing Advanced Manual Tuning - Velocity Loop
Reviewing the two previous methods of velocity tuning: Manual tuning enables you to
manually determine optimal gain filter values for a given velocity, while automatic tuning
can provide fairly precise velocity tuning parameters in a relatively short time. In cases
where precise gain values are needed for a range of velocities, the Advanced Manual
Tuning option may be desired instead.
The advanced manual tuning procedure gives you full control over gain scheduling,
enabling you to create or edit a gain schedule table for 64 different velocity values. You
may modify a table created previously (through auto-tuning or this option) or you may
build an entirely new table.
When performing advanced manual tuning, the Composer Wizard gets you the option
to determine optimal values for some or all of the 64 entries. You may determine the
optimal gains for selected velocities and then have the Wizard perform interpolation to
update the rest of the list according to those values. When you are satisfied with the
entire table, you can save it for on-going use.
To perform advanced manual tuning:
1. From the Step 1: Select the Tuning Type drop-down list of the Tuning Velocity
Loop dialog box, select Advanced Manual Tuning. The dialog box will be
redisplayed.
If the connected drive has been tuned previously, the existing gain schedule table
will be displayed; otherwise, the Velocity column will contain the values defined
according to the sample times of the specific connected drive, with zeroes for KP and
KI values.
Composer User Manual Using the Wizard
MAN-COMPUM (Ver. 1.9)
2-24