Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide AerTune
Version 1.4
Aerotech, Inc.
5-1
CHAPTER 5: AERTUNE
In This Section:
•
Introduction .................................................................................................. 5-1
•
The Main Window of the AerTune Program................................................ 5-2
•
Using AerTune ............................................................................................. 5-4
•
Step Move Parameters .................................................................................. 5-5
•
FFT Analysis ................................................................................................ 5-6
•
Determining the Maximum Acceleration of an Axis .................................... 5-7
•
Identifying an Instability within the Servo Loop .......................................... 5-8
•
Minimizing Position Error due to Torque Ripple or Amplifier Offsets........ 5-8
•
AC Brushless Motor Tuning Tip .................................................................. 5-9
•
Computing Torque (Closed-Loop Torque Mode) ...................................... 5-10
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Servo Loop Auto Tuning ............................................................................ 5-11
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Manual Servo Loop Tuning........................................................................ 5-16
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Tuning Procedure for Torque (Current) Mode Servo Loops ...................... 5-20
•
Tuning With Tachometer Feedback ........................................................... 5-30
•
Tuning Tachometer Loops.......................................................................... 5-32
5.1. Introduction
The AerTune program is a utility for visually observing and fine-tuning the performance
of the motion generated by a UNIDEX 600 Series controller. The utility allows multiple
windows to be displayed, providing a separate window for each axis. Each window allows
a single step or continuous cycle command to be generated for an axis to simulate a
typical move profile for the users desired application. This will allow the response of the
axis to be graphically displayed and adjusted accordingly. All U600 Series controllers
use the same PIDF servo loop with velocity and acceleration feedforward.