SPA1 servo tuning guide
Installation guide
H-1000-5227-06-B
Страница 1: ...SPA1 servo tuning guide Installation guide H 1000 5227 06 B...
Страница 2: ...er Renishaw makes no warranties with respect to the contents of this document and specifically disclaims any implied warranties Renishaw reserves the right to make changes to this document and to the...
Страница 3: ...SPA1 servo power amplifier tuning guide...
Страница 4: ...enishaw if non Renishaw equipment e g interfaces and or cabling is to be used or substituted Failure to comply with this will invalidate the Renishaw warranty Claims under warranty must be made from a...
Страница 5: ...2 3 2 Applying acceleration feedback 17 2 4 Servo tuning test 19 2 4 1 Servo tuning objectives 21 2 4 2 Applying velocity feed forward 22 2 4 3 Scanning tuning procedure 23 3 Rotary table tuning proce...
Страница 6: ...s new in release 01 A 30 6 2 What s new in release 02 A 30 6 3 What s new in release 03 A 30 6 4 What s new in release 04 A 30 6 5 What s new in release 05 A 30 6 6 What s new in release 05 B 30 6 7...
Страница 7: ...te The UCC controllers have a powerful range of control elements to assist with tuning attaining the required performance the CMM system including gain control lead and lag filters dynamic integrator...
Страница 8: ...ters MachineDescription section Make This should be the make of machine Model This should be the model of the machine Miscellaneous section LogFilePath This should be a valid file path MachineConfigur...
Страница 9: ...YNegative Logic level active high or low InnerLimitZPositive Logic level active high or low InnerLimitZNegative Logic level active high or low OuterLimitY2Positive Logic level active high or low Outer...
Страница 10: ...you set MaximumMoveSpeed to 500 mm s the maximum move speed you can request is 400 mm s If maximum move speed is altered after the CMM has been commissioned with no change in the CMM hardware two pro...
Страница 11: ...The Renicis commissioning step list will now be displayed within a window that will open on the desktop as shown in the figure 2 below Figure 2 3 Highlight the Welcome step within the list and then c...
Страница 12: ...aviour The user must have unobstructed access to the emergency stop switch and all other personnel must be kept away from the working region of the CMM A prompt screen will be displayed for user input...
Страница 13: ...f its travel Following the operator prompt Renicis will engage the drives for the X Y 1 2 Z and W axes as appropriate with a velocity demand of zero The operator can now adjust the servo power amplifi...
Страница 14: ...yed on a continuously updating graph that will also show the demand speed blue line see figure 4 below The user then can adjust the servo power amplifier MaxSpeed potentiometer until these coincide as...
Страница 15: ...ate continuously box to keep the machine moving otherwise the machine will stop after one cycle NOTE If the machine is unstable it is recommended that the proportional gain pot is reduced until you ha...
Страница 16: ...the gains and these should be varied to confirm that no further improvements can be obtained When complete the response should look something like Figure 8 When the system has been tuned it is recomm...
Страница 17: ...on the graphs Examine the graphs produced refer to figure 10 Figure 9 3 If the machine runs smoothly and no periodic oscillations are apparent refer to figure 10 The uncompensated gain can be increase...
Страница 18: ...sequence Figure 10 Figure 11 If any axes become unstable Y axis in figure 11 reduce KP1 by 20 and check again see step 2 NOTE All axes must have the same KP1 The value of KP2 must be such that ALL ax...
Страница 19: ...ed Gain Test refer to 2 3 1 3 If the machine is stable increasing the uncompensated gain by a further 10 20 If the machine is displaying instability as for the Y axis in figure 21 increase the value o...
Страница 20: ...18 SPA1 commissioning sequence Figure 12 Figure 13 NOTE At this point if the positioning is good enough within specifications then no further tuning will be necessary...
Страница 21: ...14 will appear Figure 14 If a position tolerance other than the default 100 microns was required to prevent timeouts during moves with the uncompensated gain value enter the same tolerance in edit box...
Страница 22: ...tate error is not achieved then the system bandwidth is determined by performing a series of sinusoidal moves in each axis to calculate the system gain The above screen shot figure 15 shows that the s...
Страница 23: ...gain lead or lag terms in the system NOTE The following is valid only if all three parameters are used Speed of response Overshoot Stability Precision steady state KP Higher Higher Better Higher Wors...
Страница 24: ...itially with no value in the Vff input box When the test has completed note the values of peak following error and overshoot for all axes The results shown in figure 17 show a low value for the oversh...
Страница 25: ...ill be required Figure 19 below shows the effect of applying too much Vff Although the following error has reduced to a low value the amount of overshoot has increased significantly Figure 19 2 4 3 Sc...
Страница 26: ...able is installed and configured options within the Set offset PA controls Calc servo gain and velocity loop tuning screens will be included An additional step will be included in the Renicis step lis...
Страница 27: ...is will only be active enabled when a rotary table is both detected and enabled NOTE It is not possible to perform a move in all four axes simultaneously Selecting the W axis will automatically disabl...
Страница 28: ...ing the Edit button you can change the proportional gain The default value of 1 for W proportional gain should be suitable in most cases A graph of position demand similar to the one shown should be s...
Страница 29: ...d lag term would induce a high overshoot but the dynamic integrator peels off the effect of integration lag as the target is approached When the target is hit the effect of integration which would hav...
Страница 30: ...e of read position Steady State Position 4 8 Following error per axis already existing Following Error t Read position t Demand position t Typical Following Error Following Error mid_time averaged ove...
Страница 31: ...ocess KP2 Uncompensated gain final value of KP obtained before applying the acceleration feedback or dynamic integrator terms KP3 Final value of KP obtained after acceleration feedback but before appl...
Страница 32: ...Updated to account for RENICIS changes 5 Addition of section Tuning for scanning 6 Addition of section Performance indices 6 4 What s new in release 04 A 1 Page and sections numbers change 2 Inclusio...
Страница 33: ...0 144 E india renishaw com Israel T 972 4 953 6595 E israel renishaw com Italy T 39 011 966 10 52 E italy renishaw com Japan T 81 3 5366 5315 or 5324 E japan renishaw com The Netherlands T 31 76 543 1...
