Aerotech UNIDEX 600 Series, User Manual

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Table of Contents U600 User’s Guide
viii
Aerotech, Inc.
Version 1.4
5.4.2.6. # Points to Collect in AutoTune........................... 5-14
5.4.3. Tuning Parameters.............................................................. 5-14
5.4.3.1. Velocity Bandwidth ............................................. 5-14
5.4.3.2. Damping............................................................... 5-14
5.4.3.3. Use VFF ............................................................... 5-15
5.4.3.4. Calculate AFFGAIN ............................................ 5-15
5.5. Manual Servo Loop Tuning.............................................................. 5-16
5.5.1.
Kp - Proportional Gain ....................................................... 5-18
5.5.2. Ki - Integral Gain ............................................................... 5-18
5.5.3. PGain - Position Gain......................................................... 5-18
5.5.4. Vff - Velocity Feedforward Gain ....................................... 5-18
5.5.5. AffGain - Acceleration Feedforward Gain ......................... 5-19
5.5.6. Alpha - AffGain Filter ........................................................ 5-19
5.5.7. VGain - Constant Velocity Gain......................................... 5-19
5.6. Tuning Procedure for Torque (Current) Mode Servo Loops ............ 5-20
5.7. Tuning With Tachometer Feedback.................................................. 5-30
5.7.1.
Vff - Velocity Feed Forward .............................................. 5-30
5.7.2. VGain - Constant Velocity Gain......................................... 5-30
5.7.3. Servo Parameter Setup for Tachometer Feedback.............. 5-30
5.7.4. The Servo Loop Parameters for Tachometer-Based
Systems............................................................................... 5-31
5.7.4.1. PGain - Position Gain .......................................... 5-31
5.7.4.2. Vff - Velocity Feedforward Gain ......................... 5-31
5.7.4.3. Kp - Proportional Gain......................................... 5-31
5.7.4.4. Ki - Integral Gain ................................................. 5-31
5.7.4.5. AffGain - Acceleration Feedforward Gain ........... 5-31
5.7.4.6. VGain - Constant Velocity Gain .......................... 5-31
5.8. Tuning Tachometer Loops................................................................ 5-32
CHAPTER 6: AERPLOT......................................................................................... 6-1
6.1. Introduction ........................................................................................ 6-1
6.2. File Menu............................................................................................ 6-2
6.3. Plot Menu ........................................................................................... 6-2
6.4. Trigger Menu...................................................................................... 6-3
6.5. Collect Menu ...................................................................................... 6-3
6.6. Axis Menu .......................................................................................... 6-3
6.7. Graph Options Menu .......................................................................... 6-3
6.8. Tools Menu......................................................................................... 6-4
6.8.1.
The FFT Analysis Window Menu Description..................... 6-5
6.9. Help Menu .......................................................................................... 6-5
CHAPTER 7: AERSTAT ......................................................................................... 7-1
7.1. Introduction ........................................................................................ 7-1
7.2. Overview ............................................................................................ 7-2
CHAPTER 8: AERREG ........................................................................................... 8-1
8.1. Introduction ........................................................................................ 8-1
8.2. Editing Registry Entries...................................................................... 8-1
8.2.1.
Finding and/or Creating a “Card 1” Entry ............................ 8-1
8.2.2. Modifying the “Card 1” Entry .............................................. 8-2