Tuning tab

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: Improve tuning of velocity or position mode Reduce motor audible noise 1 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.

¹) 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

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

Torque cogging & ripple compensation

Short GUI name	GUI name	Description	How to use
TRF1	Cogging compensation function	Selects the function of compensator	See Configuring cogging torque compensation
TRA1	Cogging compensation current	Adjusts the amplitude of summed compensating torque command
TRF2	Torque ripple compensation function	Selects the function of compensator
TRA2	Torque ripple compensation amplitude	Adjust the modulation depth of compensator

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