Difference between revisions of "Granity user guide/Tuning"
From Granite Devices Knowledge Wiki
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*[[Servo motor tuning guide]] - procedures for finding optimal parameter values | *[[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 | *[[Signal path of motor drive]] - an illustration of how drive processes various signals and parameters | ||
| + | *[[Drive fault handling]] | ||
==Parameters== | ==Parameters== | ||
===Torque controller=== | ===Torque controller=== | ||
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{{next|[[Granity user guide/Fault limits]]}} | {{next|[[Granity user guide/Fault limits]]}} | ||
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| + | [[Category:Granity_user_guide]] | ||
Revision as of 23:21, 31 July 2015
Tuning tab serves following purposes:
- Adjust torque control bandwidth
- Tune velocity controller gains
- Tune position controller gains
See also:
- 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
- Drive fault handling
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 | 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. |
| PFF | Position feed-forward gain | Sets feed foward gain from position setpoint to velocity setpoint | Adjust to minimize position response overshooting. |
| AD | Anti-dither | Motor dithering/zero error hunting reduction function (in current firmware: no effect) | Useful in future firmware |
 | Read next |
