Contents
3
Contents
1
Introduction..........................................................................................................................................5
2
SPA1 commissioning sequence ..........................................................................................................6
2.1
Initial machine ini file creation ..............................................................................................6
2.1.1
Common parameters ............................................................................................6
2.1.2
Machine and move configuration..........................................................................8
2.2
Renicis sequence.................................................................................................................9
2.2.1
Initial steps............................................................................................................9
2.2.2
Close position loop .............................................................................................10
2.2.3
Set offset PA controls .........................................................................................11
2.2.4
Calc servo gain ...................................................................................................12
2.2.5
Velocity loop tuning.............................................................................................13
2.2.6
Adjustment of proportional and integral gains ....................................................14
2.3
Renicis position loop tuning ...............................................................................................15
2.3.1
Setting the uncompensated gain ........................................................................15
2.3.2
Applying acceleration feedback ..........................................................................17
2.4
Servo tuning test ................................................................................................................19
2.4.1
Servo tuning objectives.......................................................................................21
2.4.2
Applying velocity feed-forward............................................................................22
2.4.3
Scanning tuning procedure.................................................................................23
3
Rotary table tuning procedure ...........................................................................................................24
3.1
Overview ............................................................................................................................24
3.1.1
Initial settings ......................................................................................................24
3.2
Tuning ................................................................................................................................25
3.2.1
Velocity loop tuning.............................................................................................25
3.2.2
Position loop tuning ............................................................................................26
4
Definitions..........................................................................................................................................27
4.1
Uncompensated gain .........................................................................................................27
4.2
Acceleration feedback........................................................................................................27
4.3
Dynamic integrator .............................................................................................................27
4.4
Velocity feed-forward .........................................................................................................27
4.5
I
2
t Time ...............................................................................................................................28
4.6
IET Time.............................................................................................................................28
4.7
Overshoot (per axis)...........................................................................................................28
4.8
Following error (per axis, already existing) ........................................................................28
4.9
Steady state error (per axis)...............................................................................................28
4.10
Settling time (per axis) .......................................................................................................28
4.11
Tunnelling error (for the 3D move) .....................................................................................28
