Aerotech UNIDEX 600 Series, Руководство пользователя

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AerTune U600 User’s Guide
5-16
Aerotech, Inc.
Version 1.4
5.5. Manual Servo Loop Tuning
This section and following subsections explain the procedures for tuning a UNIDEX 600
Series controller servo loop with and without tachometer feedback using the AerTune.exe
utility. The UNIDEX 600 firmware/utility software package (UTIL600-NT) contains a
graphical tool that can be used to display the effects of the servo loop gain settings.
Included in these sections are step-by-step procedures for tuning motors controlled by the
UNIDEX 600, to yield optimal performance. Optimal performance can be defined two
ways. First, it may be defined as the smallest amount of allowable position error
according to user-defined tolerances while still having smooth motion. Alternatively, it
may be defined as the smallest amount of position error that is allowable by user-defined
tolerances while having minimal settling time without concern for smoothness of motion.
To produce smooth motion, the Velocity Loop takes precedence, and an attempt will be
made to have a tight Velocity Loop and a tight Position Loop. To have very little settling
time, the Position Loop takes precedence and an attempt will be made to have a tight
Position Loop. The UNIDEX 600 uses a dual control loop having an inner velocity loop
and an outer position loop. The servo loops update time is defined by the
Enable1KHzServo global parameter, which allows either a 1 kilohertz or 4 kilohertz servo
loop update rate. Refer to Figure 5-8 (Torque Mode), Figure 5-9 (Open-Loop Velocity
Mode), and Figure 5-10 (Closed-Loop Velocity Mode) for block diagrams of the servo
loop.
Before tuning an axis, the motor and feedback device must be properly configured.
For additional information, refer to the following documentation:
Chapter 2: Getting Started, Section 2.2.1. Axis Configuration
Appendix C: Parameters
U600 Hardware Manual P/N EDU154, Chapter 4: Technical Details.
The AutoTuning algorithm, available from the Tools menu, may be used to
automatically tune the servo-loop. If your axis is configured as a gantry, the resultant
servo-loop gains must be manually copied to the slaves’ axis parameters.