Tuning tab

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GranityTuning.png

Tuning tab serves following purposes:

  • Adjust torque control bandwidth
  • Tune velocity controller gains
  • Tune position controller gains

For usage, see Servo motor tuning guide.

Parameters[edit]

Torque controller[edit]

Short GUI name GUI name Description How to use
TBW Torque bandwidth limit Sets the low pass filter frequency for torque controller setpoint signal Limiting torque bandwidth to a certain level may have several advantages:
  • Improve tuning of velocity or position mode
  • Reduce motor audible noise
  • Smoothen motion

Try various values to find the optimum for your system. Typically higher value allows setting higher velocity and position P gains giving more servo stiffness. Typically the optimum bandwidths are between 220-1500 Hz.

If you wish to check torque controller step response in testing tab, then before testing set this value to maximum and also untick Goals/CIS.

Velocity controller gains[edit]

Short GUI name GUI name Description How to use
KVP Velocity P gain The proportional gain of velocity controller See Servo motor tuning guide.
KVI Velocity I gain The integral gain of velocity controller
VFF Velocity feed-forward gain Velocity feed-forward gain
AFF Acceleration feed-forward gain Acceleration feed-forward gain

Position controller gains[edit]

Short GUI name GUI name Description How to use
KPP Position P gain The proportional gain of position controller See Servo motor tuning guide.
PFF Position feed-forward gain Sets feed foward gain from position setpoint to velocity setpoint Adjust to minimize position response overshooting.
AD Anti-dither Motor dithering/zero error hunting reduction function (in current firmware: no effect) Useful in future firmware



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