Difference between revisions of "Granity user guide/Tuning"

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{{SetGranityTabPageTitle|Tuning}}
 
Tuning  tab serves following purposes:
 
Tuning  tab serves following purposes:
 
* Adjust torque control bandwidth
 
* Adjust torque control bandwidth

Revision as of 20:56, 14 August 2013

Tuning tab serves following purposes:

  • Adjust torque control bandwidth
  • Tune velocity controller gains
  • Tune position controller gains

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
KVI
VFF
AFF

Position controller gains

Short GUI name GUI name Description How to use
KPP
AD