Tuning
9-3
Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
Auto Tune Mode
The Auto Tune mode uses a “self-tuning” algorithm that automatically adjusts the drive’s velocity loop
gain parameters. Adjustments do not require special equipment. This mode will tune a drive for constant
velocity loop response across different applications. The results will often provide acceptable response
but in general should be considered a starting point.
Tuning parameters adjustments are set to achieve a reasonable bandwidth and servo response based on
the system inertia and friction. Auto tune may be used when a significant amount of compliance or backlash
exists (for example, belt systems) in the mechanical load, but precise tuning requires the load be fully
coupled to the motor. Instability problems occur when the load is not fully coupled to the motor.
Intro
F
IGURE
9.2
Torque Current Conditioning Structure
TIP
The autotune algorithm will not provide satisfactory results in systems with
significant gravitational effects.
TORQUE
CURRENT
COMMAND
INPUT
TORQUE CURRENT
COMMAND OUTPUT
AVERAGE
CURRENT
CURRENT
LIMIT
PEAK DETECT
PEAK DETECT
CURRENT
LIMIT
POSITIVE
NEGATIVE
CURRENT
PEAK
CURRENT
PEAK
AVERAGE
CURRENT
CURRENT
LIMIT
LOW PASS
FILTER
LP ENABLE
EXCESSIVE
CURRENT
8
8
8
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