Xenus XSL User Guide Quick Setup with CME 2
Copley Controls Corp. 111
5.11.2: Manually Tune Current Loop
To tune the current loop, apply square-wave excitation to the current loop and adjust current loop
proportional gain (Cp) and current loop integral gain (Ci) to obtain a desired waveform.
NOTE: During tuning, observe any warnings that appear to the left of the trace.
NOTE: Some users prefer the Auto Tune feature. See Auto Tune Current Loop (p. 149).
5.11.2.1 Click the Scope button ( ) to display the Oscilloscope window.
5.11.2.2 On the Function Generator tab, choose Current from the Apply To: list box.
5.11.2.3 On the Settings tab, make sure Auto Setup is checked.
Auto Setup automatically sets the following options:
Function Generator Tab
Excitation Square Wave
Amplitude 10% of continuous current setting.
Frequency 100 Hz
Settings Tab
Channel 1 Commanded current (green)
Channel 2 Actual current (white)
5.11.2.4 Verify that the Amplitude value is not excessive for the motor.
5.11.2.5 Click Start. On the Gains tab, adjust current loop proportional gain (Cp).
1 Set current loop integral gain (Ci) to zero.
2 Raise or lower Cp until desired step response is obtained. Typically, this means
little or no overshoot with a 100 Hz, low-current square wave. If the Cp value is too
large, ringing may occur. If the Cp value is too low, bandwidth decreases.
TIP: To change a value, highlight the value:
. Then enter value directly, use
mouse and arrow controls, OR use Page Up/Page Down keys to move in increments of
10. To undo a change, type Ctrl-Z.
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