CNC Setup Utility Manual
P/N 70000490C - Tuning the Current, Velocity, and Position Controller
All rights reserved. Subject to change without notice.
5-9
10-December-04
Figure 5-4
shows the setpoint and feedback after the optimal
proportional gain is found.
Figure 5-4, Position Auto-tune Display
4. When the test stops, the display shows a message at top of the
screen, and:
If velocity feedforward is not activated, a single optimal value is
displayed at bottom of the screen.
If velocity feedforward is activated, two optimal values are
displayed at bottom of the screen.
Another message asks, “Do you want to save the new parameter(s)?”
5. Press
Yes
(
F1
) to load and store the displayed value in the
configuration file. Press
No
(
F2
) to load and store the current value.
6. Repeat Steps 1–5 for each axis [
X
,
Y
,
Z
,
U
, or
S
(spindle)]. Then exit
the MST display.
Selecting
Yes
in Step 5 changes the following Machine Constants
(depending on the axis selected):
MC_2026: X Pos. Control Prop. Gain (1/min)
When
MC_2028: X Velocity FeedFwd. Gain
is
Yes
, then also
displayed is:
•
MC_2030: X Coulomb Friction FeedFwd. Gain (mA)
•
MC_2029: X Acceleration FeedFwd. Gain (.1mAs2/rev)
0
100
200
300
400
500
600
700
0
200
400
600
800
1000
1200
1400
1600
1800
T in msec.
D
is
pl
ac
e
m
en
t
