CNC Setup Utility Manual
P/N 70000490C - Tuning the Current, Velocity, and Position Controller
5-12
All rights reserved. Subject to change without notice.
10-December-04
Velocity Proportional – Manual Tuning Test
This test finds the optimal value for
MC_2
x
22
(velocity proportional gain).
This is accomplished by increasing it (suggested initial value 5, increment
value 1) until the energy percentage gets close to 100% (axis will start to
make a loud noise).
At this time, press
Save
(
F10
). The found value times 0.5 is automatically
stored and loaded in the control.
Every time the
Start
key is pressed, a plot of the step response, the
loaded
MC_2
x
22
value, the energy percentage and the oscillation
frequency are shown on the MST test window.
Velocity Integral – Manual Tuning Test
This test finds the optimal value for
MC_2
x
23
(velocity integral time
constant). This is accomplished by decreasing it (by pressing
D
) in small
steps (suggested initial value 0.1, increment value 0.001) until the Count
Diff. (difference between commanded and feedback velocity at steady
state) value is zero or is very close to zero (less than 2 counts).
At this time, press
Save
(
F10
). The values for
MC_2
x
22
and
MC_2
x
23
are automatically stored and loaded in the control.
Every time the
Start
key is pressed, a plot of the step response, the
loaded
MC_2
x
22
and
MC_2
x
23
values, the count difference and the rise
time are shown on the MST screen.
Position Proportional – Manual Tuning Test
This test finds the optimal value for
MC_2
x
26
(position proportional gain).
This is accomplished by increasing it in small steps (suggested initial
value 10, increment value 1) until a little overshoot is present in the step
response.
At this time, start decreasing
MC_2
x
26
until the overshoot disappears.
Press
Save
(
F10
). The value for
MC_2
x
26
is automatically stored and
loaded in the control.
Every time the
Start
key is pressed, a plot of the position step response,
the loaded
MC_2
x
26
and the overshoot are shown on the MST screen.
Acceleration Feedforward – Manual Tuning Test
This test finds the optimal value for
MC_2
x
29
(acceleration feedforward
gain). This is accomplished by increasing it in small steps (suggested
initial value 0, increment value 10) until the point in which the maximum
lag value stops decreasing and starts to increase (overcompensation
starts).
At this time, press
Save
(
F10
). The value for
MC_2
x
29
is automatically
stored and loaded in the control.
