Granity user guide/Tuning
Tuning tab serves following purposes:
- Adjust torque control bandwidth
- Tune velocity controller gains
- Tune position controller gains
Contents
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 | |||
| KVI | |||
| VFF | |||
| AFF |
Position controller gains
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| KPP | |||
| AD |
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