SECTION 7: WINDRIVE T200 User's Manual
PAGE 7-43
7.11 Control Loop Configuration and Tuning
This section describes how WinDrive allows easy configuration and monitoring access to T200 internal variables, to
facilitate quick configuration of control loops and estimation of control loop gain values. The Auto Tuning feature is
described as well.
7.11.1 Control Mode Selection
The user should choose the appropriate control mode for the application.
§ The T200 provides selection of Torque, Velocity or Position Mode control configurations.
§ Additionally, if the drive is configured in
Velocity Mode, the T200 can switch between
Velocity and Torque Mode under the control of
the TRQ_VEL digital input. Mode switching is
not possible if the user has selected any other
mode besides Velocity.
Mode: The appropriate control mode is selectable
by clicking on either the Torque, Velocity or
Position button. The user is also informed of the
present control mode of the T200.
Gains: The Velocity Loop Gain, Integral Time
Constant and if enabled, the Position Loop Gain,
Position Loop Integral Gain, Velocity Feed
Forward Gain and Torque Feed Forward Gain
can be set from the Gains menu. These items will
be described in 7.11.4.1 Velocity Estimation,
Velocity Loop Tuning and Section Position Loop
Tuning.
While the Tuning dialog box is active, the Up and
Down arrow keys on the keyboard or the arrows to
the right of any tuning parameter field can be used
to adjust the respective parameter up or down by 5%
with each key or mouse button press. The
Automatic Update check box within the
Combined Tuning dialog box is checked to force
changes made to any tuning parameter to be
immediately sent to the T200.
Figure 7.46: Tuning Dialog Box
NOTE: The user should review Section 6.6.2, Velocity Loop Tuning, before starting the
tuning process.
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