A-10 Manual Tuning
MN1276
Pulse Follower Applications
(Only used in “pulse follower” applications).
Choose T
uning
Select the “Manual tune” method as shown in Figure shown in Figure A-9.
Position Parameters
Click on the “Position Parameters” button. You will see parameters as shown in
Figure A-13. Selecting “None Feedforward” allows you to enter Position Gain.
Figure A-13 Position Control Menu
Select Velocity feedforward allows you to enter Position Gain and Velocity, a
parameter that is proportional to the desired velocity. Increasing this gain,
compensates for damping (brings actual velocity closer to desired velocity). It is
not within the servo loop, so it does not effect stability. The adjustable range is
from 25 to 100%.
Select Acceleration feedforward allows you to enter Position Gain and Velocity and
Acceleration. Acceleration is a parameter that is proportional to the desired
acceleration. Increasing this gain, compensates for inertia (brings desired
acceleration closer to actual acceleration). It is not within the servo loop, so it
does not effect stability. Inertia resists acceleration. The adjustable range is from
25 to 100%.
Initiate Move
To verify that the parameter values are correct, you must cause the system to
move. This would be accomplished by having the “host controller”, or “indexer”, or
“computer” output a string of pulses.
During movement, observe the “Monitor” (7--segment display) on the front panel.
If a “P” is observed on the Monitor display, the drive is within the “in--position” band
which has been set. If a “P” is not observed, then the drive is outside the band, or
window. This would occur, for example, with a high friction system.
Either the gain or feedforward t erm must be adjusted, or the “in--position” band
must be opened (until a “P” is observed).
Note: To change the “in--position” band or window, you have to choose Setup
(from the “toolbar” at top of the screen). In the box, choose “O
peration
Mode”. You will see choices of “general”, “current”, “velocity”, and “pulse”.
Select “pulse” tab. This will open the w indow showing the “following error
limits”. You may enter and modify (open) the in--position bands.
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