Difference between revisions of "Granity user guide/Tuning"

[checked revision]

Revision as of 21:07, 14 August 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
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@@ Line 23: / Line 23: @@
 ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
-| KVP ||  || ||
+| KVP || Velocity P gain || The proportional gain of velocity controller || rowspam=4|See [[Servo motor tuning guide]].
 |-
-| KVI ||  || ||
+| KVI || Velocity I gain || The integral gain of velocity controller ||
 |-
-| VFF ||  || ||
+| VFF || Velocity feed-forward gain || Velocity feed-forward gain ||
 |-
-| AFF ||  || ||
+| AFF || Acceleration feed-forward gain || Acceleration feed-forward gain ||
 |}
 ===Position controller gains===
 {| class="wikitable"