Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 12.1 Introduction
12.1 Introduction
Most servo systems require some level of tuning (setting up the desired response of the system usually
with the load attached). This can be done through several methods available within EWV
1
.
Slider Tuning - Slider tuning offers a very simplistic approach to tuning and can get you under-
way quickly. With this method, just the proportional and integral gains are adjusted based on the desired
bandwidth you wish to achieve. You can take into account your load inertia if it is known. None of the Bi-
quad filters are impacted by the slider tuning.
Performance Servo Tuner - This is an easy way to get a more sophisticated tuning accom-
plished. The details of how the PST works are included in the advanced section of this subject. However,
the PST approach is a simple one-button solution that lets the system configure all of the tuning param-
eters for you. The PST is a robust solution to get your sytem tuned and ready to operate in a wide variety
of mechanical configurations and loads.
Manual Tuning - Certain applications may require manual tuning where you set the gains and filters
based on the specific performance you are looking for. You may also need to "tweak" the tuning that was
set up in either the slider or the PST section to optimize your application performance.
12.2 Slider Tuning
This view allows you to vary the tuning of your drive using the slider.
12.2.1 Gentle, Medium, and Stiff
These buttons select three of the most common bandwidths:
l
Gentle works in all but the most challenging situations.
l
Medium is the default and works in most situations.
l
Stiff works for unloaded motors.
12.2.2 The Slider
As you drag the slider to the right, the stiffness increases. In many situations, you cannot drag the slider
fully to the right side because the system will become unstable.
12.2.3 Inertia Ratio
If you know the inertia ratio of your load, then entering it can improve the performance of your system. If
you do not know the inertia of your load then EWV
2
will assume a ratio of 1:1, which will give good per-
formance in many configurations. The inertia ratio is the ratio of your load with respect to the inertia of your
motor.
12.3 Tuning Guide
12.3.1 Overview
This section covers tuning the velocity and position loops in the AKD PDMM. Servo tuning is the process
of setting the various drive coefficients that are needed for the drive to optimally control the servo motor
for your application. There are different ways to tune, and several are covered here. We will give you guid-
ance on what the different methods of tuning are and when to use them.
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Embedded Workbench Views
2
Embedded Workbench Views
87 Kollmorgen™ | December 2012