Ultra Start 450 SERIES Installation Manual download pdf (Page 172)

Publication 1398-5.2 – PDF 1997

9-6 Tuning

Manual Tune Mode Manual tuning may be used to adjust the gain settings and filter

frequency of the velocity and position regulator. The following

sections briefly explain these settings. An understanding of the

function for each type of gain and filtering will allow you to

effectively tune the system.

Two types of manual tuning are available:

● Velocity tuning

● Position tuning.

Before manual tuning is invoked, the Velocity, Distance and Motor

Direction parameters must be set. Refer to “Auto Tune Mode” on

page 9-3 for information on setting these parameters.

The velocity loop should always be tuned before the position loop, as

velocity loop tuning affects the position loop response.

Gain settings and signal filtering are the primary methods to

electrically tune a system. An understanding of the types of gain and

their purposes, as well as a general understanding of filtering, are

essential background knowledge to properly tune a servo system.

Filters

The velocity regulator has one low pass filter. The filter bandwidth

range is from 1 Hz to 992 Hz. The filter serves two purposes:

● Adjusts the frequency range to remove or filter the noise produced

by encoder resolution.

● Reduces the amount of the mechanical resonance in the

mechanical system (e.g., belt systems).

Similar results may often be achieved by reducing the update rate of

the velocity loop.

Gains

Manual Tuning

Manual tuning may be used to adjust the gain control parameters P

and I, and the filters. A square wave is generated by the drive to assist

in the adjustment. Manual velocity tuning requires the following:

● Step Period value to be specified

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Ultra Start 450 SERIES Installation Manual Page 172