Granity user guide/Tuning - Revision history

Esa: /* Torque controller */

2018-07-25T10:54:09Z

‎Torque controller

2018-07-25T10:23:44Z

2015-11-02T23:16:34Z

2015-08-28T20:11:10Z

Text replacement - "{{param|GUI}}" to "GUI"

2015-08-28T19:59:06Z

Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

2015-07-31T23:21:47Z

2015-06-16T13:30:43Z

2015-04-12T12:19:01Z

‎Position controller gains

2015-03-30T10:31:58Z

2013-09-01T23:38:32Z

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 |}
-) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.
+<sup>1</sup>) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.
 ===Velocity controller gains===

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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:
 *Improve tuning of velocity or position mode
-*Reduce motor audible noise
+*Reduce motor audible noise <sup>1</sup>
 *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.
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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.
 |}
 ===Velocity controller gains===
 {| class="wikitable"

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 | AD || Anti-dither || Motor dithering/zero error hunting reduction function (in current firmware: no effect) || Useful in future firmware
 |}
 {{next|[[Granity user guide/Fault limits]]}}
 [[Category:Granity_user_guide]]

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 {| class="wikitable"
 |-
-! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
+! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
 | 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:
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 {| class="wikitable"
 |-
-! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
+! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
 | KVP || Velocity P gain || The proportional gain of velocity controller || rowspan=4|See [[Servo motor tuning guide]].
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 {| class="wikitable"
 |-
-! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
+! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
 | KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]].

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 {| class="wikitable"
 |-
-! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
+! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
 |-
 | 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:
@@ Line 26: / Line 26: @@
 {| class="wikitable"
 |-
-! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
+! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
 |-
 | KVP || Velocity P gain || The proportional gain of velocity controller || rowspan=4|See [[Servo motor tuning guide]].
@@ Line 40: / Line 40: @@
 {| class="wikitable"
 |-
-! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
+! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
 |-
 | KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]].

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 *[[Servo motor tuning guide]] - procedures for finding optimal parameter values
 *[[Signal path of motor drive]] - an illustration of how drive processes various signals and parameters
 ==Parameters==
 ===Torque controller===
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 |}
 {{next|[[Granity user guide/Fault limits]]}}
-[[Category:Granity user guide]]

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 * Tune velocity controller gains
 * Tune position controller gains
-For usage, see [[Servo motor tuning guide]].
 ==Parameters==
 ===Torque controller===

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-{{SetGranityTabPageTitle|Tuning}}[[File:granitytuning.png|thumb]]
+{{SetGranityTabPageTitle|Tuning}}[[File:GranityTuning.png|thumb]]
 Tuning  tab serves following purposes:
 * Adjust torque control bandwidth