Parker Compumotor 6000 Series, Installation Manual

Page: 31 / 59

2 4 AT6250/AT6450 Installation Guide
Tuning the AT6n50
Before tuning the
AT6n50, mount
and couple the
motors as required
for your
application.
To assure optimum performance, you should tune your servo system. The goal of the tuning
process is to define the gain settings, servo performance, and feedback setup (see command list
below) that you can incorporate into your application program. (Typically, these commands are
placed into a setup program Ð see examples in the Basic Operations Setup chapter of the
6000
Series ProgrammerÕs Guide ).
If you are using the Servo Tuner package (see note below), refer to the Servo Tuner User Guide
for tuning instructions. If you are not using Servo Tuner, refer to the tuning instructions in
Appendix A (page 33).
Servo Tuning Software Available
To effectively tune the AT6n50 controller (and any velocity drives you may be using), use the
interactive tuning features in the Servo Tunerª. It greatly improves your efficiency and gives
you powerful graphical tools to measure the performance of the system.
Servo Tuner is included as an integral element of Motion Builderª, an optional icon-based
programming tool. Servo Tuner is also available as an optional add-on module to Motion
Architect (it does not automatically come with the basic Motion Architect software package).
Instructions for using Servo Tuner are provided in the
Servo Tuner User Guide and in Motion
BuilderÕs online Help system and Motion Builder Startup Guide & Tutorial .
To order Motion Builder or the Servo Tuner add-on module to Motion Architect, contact your
local Automation Technology Center (ATC) or distributor.
0.000 205.975
0.000 205.975
0 0
0 0
Axis 1 Comm Pos (counts) Axis 1 Comm Pos (counts)
Time (millisec)
Time (millisec)
Tuning-Related Commands
(see 6000 Series Software Reference or the Servo Tuner User Guide for details)
Tuning Gains :
SGP
.............. Sets the proportional gain in the P IV&F servo algorithm.
SGI
.............. Sets the integral gain in the P I V&F servo algorithm.
SGV
.............. Sets the velocity gain in the PI V &F servo algorithm.
SGAF
............ Sets the acceleration feedforward gain in the PIV& F
a
algorithm.
SGVF
............ Sets the velocity feedforward gain in the PIV& F
v
algorithm.
SGILIM
....... Sets a limit on the correctional control signal that results from the integral
gain action trying to compensate for a position error that persists too long.
SGENB
......... Enables a previously-saved set of PIV&F gains. A set of gains (specific to
the current feedback source selected with the
SFB
command) is saved
using the
SGSET
command.
SGSET
......... Saves the presently-defined set of PIV&F gains as a gain set (specific to the
current feedback source on each axis). Up to 5 gain sets can be saved and
enabled at any point in a move profile, allowing different gains at different
points in the profile.
Servo Performance :
INDAX
......... Selects the number of available axes to use.
SSFR
............ Sets the ratio between the update rate of the move trajectory and the update
rate of the servo action. Affects the
servo sampling update , the motion
trajectory update , and the system update .
Feedback Setup :
SFB
.............. Selects the servo feedback device.
Options are encoder or ANI input.
IMPORTANT: Parameters for scaling,
tuning gains, max. position error
(
SMPER
), and position offset (
PSET
) are
specific to the feedback device selected
(with the
SFB
command) at the time the
parameters are entered.
ERES
............ Encoder resolution.
SMPER
......... Sets the maximum allowable error
between the commanded position and the
actual position as measured by the
feedback device. If the error exceeds this
limit, the controller activates the
Shutdown output and sets the DAC output
to zero (plus any
SOFFS
offset). If there
is no offset, the motor will freewheel to a
stop. You can enable the
ERROR
command to continually check for this
error condition (
ERROR.12-1
), and
when it occurs to branch to a
programmed response defined in the
ERRORP
program.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com