CNC Motion Setup/Testing Utility
P/N 70000635C
All rights reserved. Subject to change without notice.
November 2009
35
ou have selected Kd (derivative gain), the CNC begins by measuring
% and
on of this
d to be the Ds.
t the Kd test, you must have at least 2.5”
If y
derivative sampling time (Ds). It measures the time between 10
90% of the final velocity (rise time) and divides it by five. A porti
time is determine
WARNING: If you selec
(63 mm) of travel in the positive (+) direction.
Next, the CNC calculates Kp (proportional gain). If the current overshoot
If you have selected Ki (integral gain), the CNC then calculates Ki and Il
al
o
repeated.
The CNC calculates Kd, if selected. The CNC will attempt to decrease
, and have not selected
NC calculates the
inch/min/mil (Imm) of each axis being tested and matches the
inch/min/mil to the lowest value of all axes tuned.
To test:
1. Energize the servos and select an axis.
2. Press Tuning (F8). A pop-up is displayed with the following choices:
Tuning Test, Save Results, and Tuning Setup.
t Parameters. Check the Tuning Setup
meter(s) you wish to change. Select
Choose the parameter(s) you wish to
4. R e 10, Tuning Functions nter values for the
g tuning p
N overshoo
is smaller than the set one, Kp is increased by 1. If it is larger, Kp is
decreased by 0.1.
(integral limit). If the lag between the commanded position and the actu
position is n t zero, Il is increased by 5 and this portion of the test is
the overshoot until the set value (Kd overshoot) is matched. When this
condition is not matched, Kd is increased by 2.
If you have chosen to test only one axis, the test is completed at this
point. If you have chosen to test multiple axes
“Lag Matching” the test will repeat the procedure on each axis in turn,
until complete.
If you have chosen all axes and Lag Matching, the C
3. Refer to Table 9, Tuning Tes
menu to determine which para
Tuning Test, and press
ENTER.
include in the test.
efer to Tabl Values. E
followin arameters:
OTE: Kp t must be greater than Kd overshoot.
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