CNC Motion Setup/Testing Utility
P/N 70000634A
All rights reserved. Subject to change without notice.
23-December-05
17
Table 6, Tuning Test Parameters
Parameter Function
Tune Ki
Switches integral tuning ON or OFF. [Default:
No
]
Tune Kd
Switches derivative tuning ON or OFF.
[Default:
No
]
Tune All Axis
If set, tunes all axes sequentially. [Default:
No
]
Match Axis Lag
If set, calculates the inch/min/mil (
I
mm) of each
axis, chooses the smallest one and matches the
inch/min/mil of the other axes to the smallest by
decreasing Kp.
Tune All Axis
must be set to use
this option. [Default:
No
]
If you have selected Kd (derivative gain), the CNC begins by measuring
derivative sampling time (Ds). It measures the time between 10% and
90% of the final velocity (rise time) and divides it by five. A portion of this
time is determined to be the Ds.
WARNING: If you select the Kd test, you must have at least 2.5”
(63 mm) of travel in the positive (+) direction.
Next, the CNC calculates Kp (proportional gain). If the current overshoot
is smaller than the set one, Kp is increased by 1. If it is larger, Kp is
decreased by 0.1.
If you have selected Ki (integral gain), the CNC then calculates Ki and
I
l
(integral limit). If the lag between the commanded position and the actual
position is not zero,
I
l is increased by 5 and this portion of the test is
repeated.
The CNC calculates Kd, if selected. The CNC will attempt to decrease
the overshoot until the set value (Kd overshoot) is matched. When this
condition is not matched, Kd is increased by 2.
If you have chosen to test only one axis, the test is completed at this
point. If you have chosen to test multiple axes, and have not selected
“Lag Matching” the test will repeat the procedure on each axis in turn,
until complete.
If you have chosen all axes and Lag Matching, the CNC calculates the
inch/min/mil (
I
mm) of each axis being tested and matches the
inch/min/mil to the lowest value of all axes tuned.
Содержание 4200T CNC
Страница 1: ...www anilam com ...
