T200 User's Manual SECTION 7: WINDRIVE
PAGE 7-48
7.11.5 Auto Tuning (Velocity Loop Only)
Auto Tuning of T200 Velocity Loop Gain parameters and the Velocity Observer is only available through WinDrive. If
quick tuning of a T200 is required by the user, WinDrive's Auto Tuning feature can be used to determine the values of
both the velocity loop gain and the integral time constant terms. Auto Tuning can be selected from the Drive/Set-up
Menu or via the Auto-Tuning button in the Tuning dialog.
A software generated excitation signal is fed to the motor by WinDrive and the response is recorded. Using the response
information, values are determined for Velocity Loop Gain (P) and Integral Time Constant (I). It should be noted that
Auto Tuning defined values for P and I are not optimum values. The velocity loop bandwidth (a measure of the
quickness of response of the velocity loop to changes in the velocity command) that is achieved using the Auto Tuner is
set to a default value of 50Hz.
Figure 7.49: Auto Tuning Dialog Box
Excitation Amplitude: The user can set
the level of excitation torque as a
percentage of the peak torque available
from the T200 - motor combination. It is
recommended that this level is set as high
as possible so that as large a movement as
possible is created without damaging the
user machine.
System Parameters: This will allow for
view of system parameters that were
identified during Auto Tuning (load inertia
etc.).
Advanced Options: This sub-dialog
allows the user to set advanced tuning
features and view the calculated response
of the Auto Tuning process.
Auto Tune: Clicking on this button starts
The ENABLE digital input must be active to allow the T200 to apply torque to the load and
measure the response. The user should ensure that he has hardware-enabled the T200 via the
DRV-ENABLE digital input.
The BRK-IP digital input must also be active to allow the T200 to release the brake during the
Auto Tuning process. Note that the WinDrive interface will release the brake automatically at
the appropriately times, when it expects that movement is required to estimate the load. The
user should ensure that he has hardware-released the brake of the motor (if a brake is present)
via the BRK_IP digital input.
CAUTION: The Auto Tune algorithm causes the motor to be excited with a high frequency
torque. This is typical of most tuning algorithms. The machine should be capable of
withstanding such an excitation torque, which contains a significant number of torque steps.
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