CNC Setup Utility Manual
P/N 70000490C - Tuning the Current, Velocity, and Position Controller
5-6
All rights reserved. Subject to change without notice.
10-December-04
Figure 5-2
shows the setpoint and feedback after the first phase has
finished:
Figure 5-2, Velocity Auto-tune Display (first phase)
The second phase is the integral gain tuning. With the calculated
proportional gain loaded, the integral test sends the same step as
from the previous phase. It starts increasing its gain until the step
response steady state gets within a small setpoint range (10 counts).
In this phase, the loaded velocity proportional gain, integral gain, and
the count difference between setpoint and feedback are displayed in
the test window.
Figure 5-3, Velocity Auto-tune Display (second
shows the setpoint and feedback after the second phase has
finished.
5. When the test stops, the display shows a message at top of the
screen, and the two optimal values are displayed at bottom of the
screen. Another message asks, “Do you want to save the new
parameter(s)?”
6. Press
Yes
(
F1
) to load and store the displayed test value in the
configuration file. Press
No
(
F2
) to load and store the current value.
7. Repeat Steps 1–5 for each axis [
X
,
Y
,
Z
,
U
, or
S
(spindle)]. Then
perform the Position Controller Auto-tuning Test.
Selecting
Yes
in Step 6 changes the following Machine Constants
(depending on the axis selected):
MC_2022: X Vel. Control Prop. Gain (mAs/rev)
MC_2023: X Vel. Control Integral Timecons (.1ms)
MC_2122: Y Vel. Control Prop. Gain (mAs/rev)
MC_2123: Y Vel. Control Integral Timecons (.1ms)
MC_2222: Z Vel. Control Prop. Gain (mAs/rev)
MC_2223: Z Vel. Control Integral Timecons (.1ms)
10
20
30
40
50
60
70
80
90
0
200
400
600
800
1000
1200
1400
1600
1800
2000
T in msec.
V
el
oc
it
y
