CNC Setup Utility Manual
P/N 70000490C - Tuning the Current, Velocity, and Position Controller
5-14
All rights reserved. Subject to change without notice.
10-December-04
Offsets in the main vertical axis (typically, Z-axis) can be detected by
using this test. To calculate this offset, the integral component of velocity
must be disabled. (Temporarily load 0.5 in
MC_2223
.) After activating it,
a move is commanded along the whole vertical axis travel at a slow
speed (~5 inches/minute). After the move finishes, you record the
average current (
I
1 in mA.). The process is repeated again in the
opposite direction, and you record the average current (
I
2 in mA.). See
Figure 5-6
.
Figure 5-6, Current vs. Distance Plot
You make the following calculation:
I
off = (
I
1 +
I
2) / 2.
MC_2231
(Torque
offset for Z-axis) is loaded with
I
off in the setup utility to balance the axis.
After the calculation is complete,
MC_2223
must be reloaded with its
original value.
Overall System Performance
This test displays a step response of the active axis with all loops, all
compensations, and all ramps active. The test provides a performance
measure of an axis that is following all commanded moves.
MC_4314
(Rapid ramp size in ms.) and
MC_4315
(feed ramp size in ms) may be
modified in this test. See
Figure 5-7, Overall System Performance Plot
0
50
100
150
200
250
300
350
400
450
500
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Distance in mm
C
ur
re
nt
in
A
