Editing Granity user guide/Tuning
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− | {{SetGranityTabPageTitle|Tuning}} | + | {{SetGranityTabPageTitle|Tuning}} |
Tuning tab serves following purposes: | Tuning tab serves following purposes: | ||
* Adjust torque control bandwidth | * Adjust torque control bandwidth | ||
* Tune velocity controller gains | * Tune velocity controller gains | ||
* Tune position controller gains | * Tune position controller gains | ||
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==Parameters== | ==Parameters== | ||
===Torque controller=== | ===Torque controller=== | ||
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| TBW || Torque bandwidth limit || Sets the [http://en.wikipedia.org/wiki/Low-pass_filter low pass filter] frequency for torque controller [[setpoint signal]] || Limiting torque bandwidth to a certain level may have several advantages: | | TBW || Torque bandwidth limit || Sets the [http://en.wikipedia.org/wiki/Low-pass_filter 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 | *Improve tuning of velocity or position mode | ||
− | *Reduce motor audible noise | + | *Reduce motor audible noise |
*Smoothen motion | *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. | 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. | ||
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If you wish to check torque controller step response in [[Granity user guide/Testing|testing tab]], then before testing set this value to maximum and also untick Goals/CIS. | If you wish to check torque controller step response in [[Granity user guide/Testing|testing tab]], then before testing set this value to maximum and also untick Goals/CIS. | ||
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===Velocity controller gains=== | ===Velocity controller gains=== | ||
{| class="wikitable" | {| class="wikitable" | ||
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! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ||
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− | | KVP || Velocity P gain || The proportional gain of velocity controller || | + | | KVP || Velocity P gain || The proportional gain of velocity controller || rowspam=4|See [[Servo motor tuning guide]]. |
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− | | KVI || Velocity I gain || The integral gain of velocity controller | + | | KVI || Velocity I gain || The integral gain of velocity controller || |
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− | | VFF || Velocity feed-forward gain || Velocity feed-forward gain | + | | VFF || Velocity feed-forward gain || Velocity feed-forward gain || |
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− | | AFF || Acceleration feed-forward gain || Acceleration feed-forward gain | + | | AFF || Acceleration feed-forward gain || Acceleration feed-forward gain || |
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! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ||
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− | | KPP || | + | | KPP || || || |
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− | + | | AD || || || | |
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− | | AD || | + | |
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