Editing Tuning velocity controller
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− | + | ARTICLE UNDER CONSTRUCTION - DON'T USE | |
− | This tuning guide is for you if the final application uses the motor in velocity [[Control modes|control mode]] such as spindle or as position mode with external closed loop position controller such as [[ | + | Velocity controller tuning means finding the correct drive settings and feedback gain values to achieve a proper [[Servo stiffness]] and response to a velocity [[Setpoint signal|setpoint]] change. |
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+ | This tuning guide is for you if the final application uses the motor in velocity [[Control modes|control mode]] such as spindle or as position mode with external closed loop position controller such as [[EMC2]]. | ||
==Velocity control tuning method== | ==Velocity control tuning method== | ||
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*Attach motor to the target load and ensure it can rotate in both directions '''infinitely''' | *Attach motor to the target load and ensure it can rotate in both directions '''infinitely''' | ||
*Make following parameter changes to Granity and click apply afterwards: | *Make following parameter changes to Granity and click apply afterwards: | ||
− | **Set drive in velocity control mode | + | **Set drive in velocity control mode [[CM]] |
− | **Choose ''Serial only'' setpoint input | + | **Choose ''Serial only'' setpoint input [[CM]] |
**Make other necessary adjustments to have drive powered and enabled | **Make other necessary adjustments to have drive powered and enabled | ||
− | **Untick | + | **Untick Setpoint smoothing [[CIS]] |
− | **Set Goals tab | + | **Set Goals tab [[DIV]] and [[MUL]] to 50 |
− | **Set | + | **Set acceleration [[CAL]] & velocity [[CVL]] limits reasonably to the levels that motor is expected to handle |
*Set-up the test stimulus and capture settings from Testing tab (an example, may be varied): | *Set-up the test stimulus and capture settings from Testing tab (an example, may be varied): | ||
− | **Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via | + | **Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via [[CVL]]) |
**Set delay 1 [[TSD1]] to 0.25 seconds | **Set delay 1 [[TSD1]] to 0.25 seconds | ||
**Set target setpoint 2 [[TSP2]] to same, but ''negative'', value of TSP1 | **Set target setpoint 2 [[TSP2]] to same, but ''negative'', value of TSP1 | ||
**Set delay1 [[STD2]] to 0.25 s | **Set delay1 [[STD2]] to 0.25 s | ||
− | **Choose | + | **Choose sample rate [[TSR]] of 500 to 2500 Hz |
**Choose ''Capture setpoint change in positive direction'' from the dropdown | **Choose ''Capture setpoint change in positive direction'' from the dropdown | ||
**''Tick Continuously repeating capture'' | **''Tick Continuously repeating capture'' | ||
**Tick ''Velocity setpoint'' and ''Velocity achieved'' from signals | **Tick ''Velocity setpoint'' and ''Velocity achieved'' from signals | ||
**Tick ''Start capture'' to begin continous capture. | **Tick ''Start capture'' to begin continous capture. | ||
− | **Tick | + | **Tick Enable test stimulus [[TSE]] to begin a continuous position back and forth spinning motion generation |
Once the steps above are done, motor should be generating direction reversing spinning and velocity response graphs should appear on the right side of Granity about once in 3-5 seconds. | Once the steps above are done, motor should be generating direction reversing spinning and velocity response graphs should appear on the right side of Granity about once in 3-5 seconds. | ||
===Finding velocity control gain values=== | ===Finding velocity control gain values=== | ||
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[[File:Veltuning2.png|800px]] | [[File:Veltuning2.png|800px]] | ||
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[[File:Veltuning4.png|800px]] | [[File:Veltuning4.png|800px]] | ||
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[[File:Veltuning6.png|800px]] | [[File:Veltuning6.png|800px]] | ||
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[[File:velocitylowgain.png|800px]] | [[File:velocitylowgain.png|800px]] | ||
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[[File:velocitylowgainff.png|800px]] | [[File:velocitylowgainff.png|800px]] | ||
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[[File:velocitystable.png|800px]] | [[File:velocitystable.png|800px]] | ||
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[[File:currentsaturatin.png|800px]] | [[File:currentsaturatin.png|800px]] | ||
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[[File:velocityunstable.png|800px]] | [[File:velocityunstable.png|800px]] | ||
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===Steps to do after tuning finished=== | ===Steps to do after tuning finished=== | ||
− | *Stop test stimulus by unticking | + | *Stop test stimulus by unticking [[TSE]] |
− | *Stop scope | + | *Stop scope catpure by unticking ''Continuously repeating capture'' |
*Undo all temporary changes made to settings | *Undo all temporary changes made to settings | ||
*Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button | *Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button | ||
− | *Set preferred setpoint source | + | *Set preferred setpoint source [[CRI]], also consider the use of [[CIS]] |
− | *If setpoint signal scaling is needed, adjust | + | *If setpoint signal scaling is needed, adjust [[MUL]] and [[DIV]] values |
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− | [[ | + | {{tip|If drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like '''Mach3''' or '''EMC2''', then its recommended to increase acceleration limit [[CAL]] to the maximum value of 32767 and disable setpoint smoothing [[CIS]] to prevent drive's internal acceleration limiter modifying the [[setpoint signal]]. Using these settings effectively disables the internal acceleration limit and let's external controller to control accelerations.}} |
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