Difference between revisions of "Granity user guide/Tuning"
From Granite Devices Knowledge Wiki
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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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| − | | | + | | 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 | |
| − | + | *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. | |
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===Velocity controller gains=== | ===Velocity controller gains=== | ||
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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 || || || |
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| − | | | + | | KVI || || || |
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| − | | | + | | VFF || || || |
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| − | | | + | | AFF || || || |
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===Position controller gains=== | ===Position controller gains=== | ||
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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 || || || |
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| − | | | + | | AD || || || |
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[[Category:Granity user guide]] | [[Category:Granity user guide]] | ||
Revision as of 20:16, 14 August 2013
Tuning tab serves following purposes:
- Adjust torque control bandwidth
- Tune velocity controller gains
- Tune position controller gains
Contents
Parameters
Torque controller
| 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:
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
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| KVP | |||
| KVI | |||
| VFF | |||
| AFF |
Position controller gains
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| KPP | |||
| AD |
