CNC Setup Utility Manual
P/N 70000490C - Tuning the Current, Velocity, and Position Controller
All rights reserved. Subject to change without notice.
5-7
10-December-04
MC_2322: U Vel. Control Prop. Gain (mAs/rev)
MC_2323: U Vel. Control Integral Timecons (.1ms)
MC_2922: Spindle Vel. Control Prop. Gain (mAs/rev)
MC_2923: Spindle Vel. Control Integral Timecons (.1ms)
Figure 5-3, Velocity Auto-tune Display (second phase)
If the test fails, repeat to obtain a reasonable value. If the test does not
complete, look at the plot and enter 50% of the value at which the plot
starts to get distorted for
MC_2
x
22
. For
MC_2
x
23
, use 0.02. If the motor
resonates, increase
MC_2x23
by 0.01 until resonance stops. See
Velocity Integral – Manual Tuning Test
Guidelines to Fine-Tune the Velocity Controller
If the axis move is jerky or tends to overshoot, you can fine-tune the
velocity controller by decreasing the proportional gain and increasing the
integral time constant for the axis you are adjusting:
Decrease in steps of 0.5 the Machine Constant (depending on the
axis selected):
•
MC_2022: X Vel. Control Prop. Gain (mAs/rev)
•
MC_2122: Y Vel. Control Prop. Gain (mAs/rev)
•
MC_2222: Z Vel. Control Prop. Gain (mAs/rev)
•
MC_2322: U Vel. Control Prop. Gain (mAs/rev)
•
MC_2922: Spindle Vel. Control Prop. Gain (mAs/rev)
Increase in steps of 0.005 the Machine Constant (depending on the
axis selected):
•
MC_2023: X Vel. Control Integral Timecons (.1ms)
•
MC_2123: Y Vel. Control Integral Timecons (.1ms)
•
MC_2223: Z Vel. Control Integral Timecons (.1ms)
10
20
30
40
50
60
70
80
90
0
200
400
600
800
1000
T in msec.
V
el
oc
it
y
