Current Amplitude
This box sets the amplitude of the current used to excite the system during a current injection mode excitation.
This amplitude applies to all excitation types when the Injection Point is set to Current. The Current Ampli-
tude box is disabled if the Injection Point is set to anything else.
Velocity Amplitude
This box sets the amplitude of the velocity used to excite the system during a velocity injection mode excitation.
This amplitude applies to all excitation types when the Injection Point is set to Velocity. The Velocity Ampli-
tude box is disabled if the Injection Point is set to anything else.
Measurement
This box sets the measurement type used during a measurement. The Autotuner functions only if Plant meas-
urement is selected; autotune does not function in other measurement modes.
l Closed Loop directly measures the closed loop frequency response of the servo.
l Plant directly measures the plant, including drive, motor, and mechanics coupled to the motor.
l Controllerdirectly measures the controller response, which includes the tuning in the velocity and posi-
tion loops, and anti-resonance filters 1 & 2.
Injection Point
The Injection Point box sets the source location of the excitation used during autotuning. Current mode uses a
torque disturbance at the torque output. During current injection point measurements, the excitation will use the
Current Amplitude value to set the size of the excitation.
Velocitymode uses a velocity command to excite the system. During velocity injection point measurements, the
excitation will use the Velocity Amplitudevalue to set the size of the excitation.
Excitation Type
Excitation Type box allows you to chooses the type of excitation. Noise, pseudo random binary (PRB), and sine
are the options available.
l
Noise uses a pseudo random noise signal to excite the system. The signal varies between +/- current or
velocity amplitude (depending on injection point). The signal contains a frequency spectrum that goes
from a lower limit equal to:
16,000/(Excite Gap * Number Points) Hz
to a higher limit equal to:
(16,000/Excite Gap) Hz
The richness of the frequency spectrum comes from variance in the amplitude of the noise signal.
AKD User Guide | 14 Tuning Your System
Kollmorgen | December 2010 155
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