Difference between revisions of "Granity user guide/Tuning"

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

Revision as of 10:31, 30 March 2015

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

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:
  • 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

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

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