33
Rev. 1.0
0012072012
TSM24P User Manual
+86-400-820-9661
5.5.3 Adjusting tuning parameters
The two primary parameters for a Timed move are the
Proportional
(VP) &
Integral
(VI) gain
parameters of the velocity loop.
Starting with these two terms is a good way to begin tuning as they are the minimum required
terms in Velocity Loop tuning. The
FF Gain
is not required but adds to the tuning, this will be
discussed later.
Note 1:
The
Disable
button in the Menu bar of the Step-Servo Quick Tuner window under the
label
Servo
will disable the motor should a serious problem occur.
Note 2:
The Gain values can be changed at any time during the tuning process. When the Step-
Servo Quick Tuner software detects a change in the value it will automatically download the new
value. The
Download
button in the upper right of the window does not need to be clicked.
Once a successful move has been accomplished (no fault occurs) the motor is ready for tuning.
Adjust the VP and VI parameters and observe the results. VP and VI shold be adjusted at the
same time and in small increments. The following two figures shows responses with different VP
and VI settings.
This first plot is performed with the default tuning values and no load added to the motor.
The second plot is performed with higher gain values for the VP (25000) and VI (3000), as can be
seen the velocity error decreases as the gains are increased.
To get a good comparison between different plots where the gains have been changed, turn off
the
Auto Scale
by clearing that check box below the plot screen. When auto scaling is turned off,
the difference can be seen more clearly.
