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SYNAPTICON SOMANET OBLAC Drives Box, Commissioning And Tuning, Page: 53 / 67

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Using a velocity filter results in a phase delay based on the filter order and its cutoff frequency. It is
recommended to perform a system identification and tuning after filters were configured. Be
careful, filters severely reduce stability due to phase delay.

Commissioning and Tuning with SOMANET OBLAC Drives

© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25

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Summary of Contents for SOMANET OBLAC Drives Box

Page 1: ...Commissioning and Tuning with SOMANET OBLAC Drives Documentation v 3 2 0 Build 2020 05 25 2020 Synapticon GmbH...

Page 2: ...mware 1 3 1 3 Launch Setup Wizard 1 3 1 4 Download Device Description XML 1 3 1 5 Load Configuration File 1 3 1 6 Save Configuration File 1 3 1 7 Download log 1 3 1 8 Factory Reset 1 3 2 User Interfac...

Page 3: ...ing of the velocity control loop 1 5 3 3 Manual Tuning of the position control loop Cascaded controller 1 6 Test your drive at the playground 1 6 1 Prerequisites 1 6 2 Apply a defined torque to your m...

Page 4: ...rates gain values for the cascaded position controller Velocity Autotuning Automatically generates gain values for the velocity controller Manual Tuning Description of steps required for manually tuni...

Page 5: ...Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0 Build 2020 05 25 5 67...

Page 6: ...lation Guide OBLAC Drives Installation Guide OBLAC Drives Box is a physical machine that comes preinstalled with Linux OS and runs OBLAC Drives and the related services It supports access over WiFi or...

Page 7: ...le to the lower LAN port on the back of the box Connect this to the SOMANET servo drive on port IN 1 1 3 Powering the box off and resetting If you want to manually turn the box off you can either just...

Page 8: ...IP address given on the sticker the sticker 1 1 5 Using OBLAC Drives Box with WiFi A sticker on the side of the box contains the WiFi SSID access point name and password Connect to the WiFi access poi...

Page 9: ...BLAC Drives Box you can simply delete the bridged connection Linux open the Connection editor with the terminal nm connection editor Double click on your Ethernet connection to edit it Enter the IPv4...

Page 10: ...versions of OBLAC Drives that get installed will be cached on the box but they will have to be downloaded from the Internet That s it You may now proceed to commission your SOMANET servo drive Set up...

Page 11: ...test version of Google Chrome Google Chrome 1 2 2 Getting started 1 Download the OBLAC Drives Virtual Machine image DOWNLOAD OBLAC DRIVES If you have trouble downloading from Amazon webservice please...

Page 12: ...gain 5 Go to Virtual Machine Settings and check if two network adapters are available one set to NAT and one set to Bridged Automatic Ensure that the Replicate physical network connection state option...

Page 13: ...get a warning that the import failed just click Retry and it will run If you get a warning that the import failed just click Retry and it will run You may also check Do not show this message again You...

Page 14: ...Enable hypervisor application option There should be two network adapters set Share with my Mac Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch na...

Page 15: ...r 5 Power up and connect the slaves 6 Play the virtual machine Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0 Build 20...

Page 16: ...run If you get a warning that the import failed just click Retry and it will run You may also check Do not show this message again You may also check Do not show this message again 5 Go to Virtual Mac...

Page 17: ...be an Ethernet connection so it likely starts with eth Save changes 7 Power up and connect the slaves 8 Play the virtual machine 9 In case your systems hints that a swap partition is needed Commissio...

Page 18: ...Mware Player 1 2 3 Connecting to OBLAC Drives Once your virtual machine is powered up you will find the IP address of OBLAC Drives at the top of the screen Enter this IP address in your browser and wa...

Page 19: ...cted Now you are ready to use the features of OBLAC Drives NEXT STEP Proceed to Commissioning Guide Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Page 20: ...ure that the power saving functionality for LAN is turned OFF 4 In some cases after the start up of OBLAC Drives the URL isn t shown and the website can t get accessed In that case please try switchin...

Page 21: ...tall the latest version After clicking Install OBLAC Drives you will be forwarded to the OBLAC Update Service and see a list of all current releases Use this list also to select between different vers...

Page 22: ...saved to the device manually saved to the device manually 1 3 1 2 Update Firmware When this button is clicked a box appears listing the most recent firmwares available for your hardware The list is b...

Page 23: ...ains the state changes and all occurring errors and warnings 1 3 1 8 Factory Reset When serious issues occur you can set the system back to Factory settings Attention Attention This action is irrevers...

Page 24: ...ld accesses the Quick Open feature You can also access it by entering the shortcut Ctrl Shift p In the Quick Open field any keyword typed in will reveal the parameter that matches best The search inpu...

Page 25: ...Quick Open input box or view the parameter documentation by clicking on the i button Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documen...

Page 26: ...t Once you clicked on the Update button please wait until a notification pops up telling you that the installation is done Note Note Please make sure to select a firmware that fits your version of the...

Page 27: ...lick on the stack icon and select Update Firmware Update Firmware Click on the Launch Setup Wizard link to open the setup wizard It will first ask you to give a name to your drive Commissioning and Tu...

Page 28: ...e if you have an attached brake If you have a brake insert the parameters Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2...

Page 29: ...escribed in perform the behavior for shaking free as described in the brake release feature the brake release feature So if you have a pin So if you have a pin style brake please ensure that no heavy...

Page 30: ...onto details and set the parameters as you wish If you want to use this encoder as a motion control sensor you will be able to test if it is properly configured in the testing area Commissioning and...

Page 31: ...sults of the tuning process are not to your taste After finishing the wizard OBLAC Drives will open the Playground where you can test the basic functionality of your new SOMANET drive setup Commission...

Page 32: ...e controller gains for precise motion NEXT STEP Motion control tuning Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0 B...

Page 33: ...or the velocity controller Manual Tuning Description of steps required for manually tuning the controller gains Manual Tuning of the current controller The generated torque is directly proportional to...

Page 34: ...Finetune the controller gains and design the optimal control structure 4 Save the values to the drives Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101...

Page 35: ...ake a few full turns 1 5 2 1 Concept of Auto Tuning Auto tuning is performed in three steps System identification Identifying the physical properties of the object to build a mathematical model of the...

Page 36: ...For details see control applications For details see PID Controllers Theory Design and Tuning PID Controllers Theory Design and Tuning 1 5 2 3 Goal of Velocity Auto tuning The Velocity Auto tuning pr...

Page 37: ...s strongly recommended to prevent hardware damage Using a Chopper Board is strongly recommended to prevent hardware damage 1 5 2 4 2 Limitations 1 The procedure should be used carefully if the system...

Page 38: ...6 There are 2 sliders that allow users to change the frequency response test signal Torque excitation signal amplitude specifies a max percentage of the rated torque applied during the identification...

Page 39: ...er It is recommended to use the default value Adjust the slider if a known resonance should be included into the model Low values will result in a more precise identification procedure and more stress...

Page 40: ...ity loop with Velocity Auto Tuning for Cyclic Synchronous Velocity mode CSV 1 5 2 4 4 F A Q Can I define other velocity torque units in the custom firmware The system identification is possible only w...

Page 41: ...ntification work A torque chirp test signal with specific frequency range is injected into the electromechanical system and the resulting velocity signal is recorded Commissioning and Tuning with SOMA...

Page 42: ...d calibrated 1 5 2 5 2 Limitations 1 The procedure uses a linear mathematical model of the system If there are strong nonlinearities there will be a difference between the actual and the requested per...

Page 43: ...tion has an optimization loop inside and may take a few seconds 3 After the initial tuning is done it is possible to tune the control loop more precisely by changing the gains while executing a test s...

Page 44: ...ded to settle the step response within 2 of the reference value The auto tuning procedure will try to find gains to ensure the specified settling time given the identified model Commissioning and Tuni...

Page 45: ...uences overshoot and rise time Practically the damping ratio effect depends on the controller type Values 1 can be used for removing overshoot but at cost of slower settling time it may also lead to u...

Page 46: ...achieve a sharper response and a better bandwidth at a cost of overshoot Damping ratio is minimal Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch n...

Page 47: ...resolution encoders Additionally the velocity signal used in system identification might have multiple zeros that may result in incorrect model Do I have to repeat system identification and tuning aft...

Page 48: ...hase delay based on the filter order and its cutoff frequency It is recommended to perform a system identification and tuning after filters were configured Be careful filters severely reduce stability...

Page 49: ...1 5 2 6 2 Limitations The procedure uses a linear mathematical model of the system If there are strong nonlinearities there will be a difference between the actual and the requested performance Max ba...

Page 50: ...bandwidth is a characteristic of a control loop that characterizes sharpness of the control loop Basically it is a frequency the system may follow while keeping 71 of the amplitude An example of velo...

Page 51: ...control loop 10 Hz sine wave tracking with requested bandwidth of 80 Hz Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0...

Page 52: ...tification might have multiple zeros that may result in incorrect model Do I have to repeat system identification and tuning after I attached a load to the system It is better to repeat both procedure...

Page 53: ...recommended to perform a system identification and tuning after filters were configured Be careful filters severely reduce stability due to phase delay Commissioning and Tuning with SOMANET OBLAC Dri...

Page 54: ...wever all controller gains can also be adjusted manually Manual Tuning of the current controller Manual Tuning of the velocity control loop Manual Tuning of the position control loop Commissioning and...

Page 55: ...sult in stable but not sharp controller behavior In case the user wants to improve the tuning of current loop controllers the following steps are suggested Set Ki 0 and Kp 2 500 Enable the controller...

Page 56: ...mmand with a period of 1 second and amplitude of 5 of rated value Repeat this step until a vibration is felt in the system This vibration means that the system is close to its instability margine At t...

Page 57: ...y out this iterative process As a general rule of thumb on which parameter to change next the following is helpful If the behaviour of the system at low frequencies shall be improved the Integral gain...

Page 58: ...o 0 This configuration is refered to as PI P When the integrator on the velocity loop is used the gain for the position integrator should be set to 0 This configuration is refered to as P PI These ini...

Page 59: ...similar to the simple PID controller however the structure is different and therefore a different tuning method should be used different and therefore a different tuning method should be used Commiss...

Page 60: ...ally set it back to a lower value If anything is attached to your motor shaft e g robotic manipulator make sure there are no mechanical limits to be exceeded or anything might be manipulator make sure...

Page 61: ...troller that can be configured and adapted to your surrounding mechanical system automatically Enter a target position in the units of encoder increments ticks and see how the motor moves there Depend...

Page 62: ...the overshoot response times or bandwidth of your entire control loop suit your application If you encounter any problems make sure they are sorted out before you continue Reviewing the above mention...

Page 63: ...es requires it 1 Click on the Link to open the OBLAC Drives Update Service 2 From the list of releases click INSTALL on the release of your choice 3 After installation click OPEN to return to OBLAC Dr...

Page 64: ...Link anymore To access OBLAC Drives Update Service please manually enter port 64000 in your URL e g access OBLAC Drives Update Service please manually enter port 64000 in your URL e g 192 168 0 1 640...

Page 65: ...of issues can be avoided by strictly following the instructions by strictly following the instructions 1 8 1 Virtualization not activated If your computer does not have the virtualization technology a...

Page 66: ...ix this issue follow the commands given here 1 8 3 Runtime Issues One of the most common issues appears directly after installing OLAC Drives The browser will be opened and the following screen appear...

Page 67: ...re that none of the Synapticon tool components OBLAC Drives motion master bridge or motion master are already running on the host machine as a native installation If your laptop is connected to a dock...

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