Festo CMMB-AS-0x, Mounting And Installation Manual

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The auto-tuning algorithm uses the following table of control loop bandwidth settings in relation to the stiffness
value:
Table 4-5: Stiffness and control loop settings
Stiffness Kpp/[0.01Hz] Kvp/[0.1Hz]
Output filter
[Hz]
Stiffness Kpp/[0.01Hz] Kvp/[0.1Hz]
Output filter
[Hz]
0 70 25 18 16 1945 700 464
1 98 35 24 17 2223 800 568
2 139 50 35 18 2500 900 568
3 195 70 49 19 2778 1000 733
4 264 95 66 20 3334 1200 733
5 334 120 83 21 3889 1400 1032
6 389 140 100 22 4723 1700 1032
7 473 170 118 23 5556 2000 1765
8 556 200 146 24 6389 2300 1765
9 639 230 164 25 7500 2700 1765
10 750 270 189 26 8612 3100 1765
11 889 320 222 27 9445 3400 ∞
12 1056 380 268 28 10278 3700 ∞
13 1250 450 340 29 11112 4000 ∞
14 1500 540 360 30 12500 4500 ∞
15 1667 600 392 31 13889 5000 ∞
Information
When the setting for the stiffness or inertia ratio results in a Kvp value of greater than 4000, it
isn’t useful to increase stiffness any more
Note
The EASY procedure must be run first and completed, before tunE may be used.
Inertia measurement might cause the machine to oscillate, please be prepared to shut off
controller power immediately.
Provide enough mechanical space for motor oscillation during inertia measurement in order to
avoid machine damage.
Information
Reasons for the failure of tuning:

Incorrect wiring of the CMMB servo system

DIN function Pre_Enable is configured but not active

Too much friction or external force is applied to the axis to be tuned

Too big backlash in the mechanical path between the motor and the load

Inertia ratio is too large

The mechanical path contains too soft components (very soft belts or couplings)
For more information about tuning see chapter 7