Difference between revisions of "Granity user guide/Tuning"
From Granite Devices Knowledge Wiki
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| KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]]. | | KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]]. | ||
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| + | | PFF || Position feed-forward gain || Sets feed foward gain from position setpoint to velocity setpoint || Adjust to minimize position response [[overshooting]]. | ||
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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 | ||
Revision as of 12:19, 12 April 2015
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:
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 |
