ElmoMC SimplIQ Servo Drives Composer User Manual - Manual (Page 78)

3.9 Advanced Manual Tuning
The Tools - Advanced Manual Tuning option provides direct access to performing
advanced manual tuning of the velocity, position and dual loops. Using this option
requires prior current and commutation tuning for the selected loop (shown in the drop-
down Mode list in the toolbar). It enables you to run tests of the selected controller
parameters with or without gain scheduling, as described in sections
2.8.3 (velocity loop),
2.9.3 (position loop) and 2.10.3 (dual loop). When you select this option, a dialog similar
to the following (velocity tuning loop) is displayed:
In the top block, a gain scheduling table is displayed with functionality identical to that
of the Wizard advanced manual tuning. This enables you to manipulate each of the 64
rows of entries, to test individual rows and to test the entire table using gain scheduling
(click Gain Scheduling OFF to turn it on). You may use the Load GS Table and Save GS
Table buttons to load a previously created table and to save the current table,
respectively.
To run a test, be sure to first prepare the recorder and activate it prior to running a test.
Clicking Apply sends all current values to the drive. (Clicking Undo reverts to the set of
values sent at the last Apply.) Pressing Run Test turns the motor on and runs the test
according to the displayed test parameters and selected gains.
If you have created a gain scheduling table and turned it off (Gain Scheduling OFF),
when you click the Close button, the following message will be displayed to ensure that
you do not cancel the use of the gain scheduling:
Gain scheduling is off. Manual filter parameters will be used. Continue?
To use gain scheduling, click No, toggle Gain Scheduling OFF back to Gain Scheduling
ON and then click Close again.
Elmo Composer User Manual Using the Composer
MAN-COMPUM (Ver. 1.9)
3-28