Difference between revisions of "Granity user guide/Tuning"

[checked revision]

Revision as of 13:17, 1 September 2013

Tuning tab serves following purposes:

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.

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

Short GUI name	GUI name	Description	How to use
KPP	Position P gain	The proportional gain of position controller	See Servo motor tuning guide.
AD	Anti-dither	Motor dithering/zero error hunting reduction function (in current firmware: no effect)	Useful in future firmware

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