Aerotech UNIDEX 600 Series, Руководство пользователя

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AerTune U600 User’s Guide
5-20
Aerotech, Inc.
Version 1.4
5.6. Tuning Procedure for Torque (Current) Mode Servo Loops
Figure 5-11 shows the overall tuning process with the AerTune utility. The tuning process
discussed in this section was performed using the “X” (lower) Axis of an Aerotech
ATS3220140P X-Y open frame table, with a BM130 AC brushless motor and an
AS32030 amplifier at 160VDC. The table had no mounted load, except for that of the Y
axis that is physically part of the table. The user’s system may behave differently and
have different values for servo loop gains. However, the overall process is the same and
the same process can be repeated for other axes. The user will essentially follow the
procedure below and use it as a guide when tuning the UNIDEX 600 Servo Loop. This
procedure does not apply to motors with tachometers.
1. Exercise the axis through a move profile typical to your application.
2. Observe the servo loop performance with the AerTune utility.
3. Make a decision on whether to increase or decrease the value of the servo
loop gain parameter or proceed to the next servo loop parameter.
4. Repeat.