52
6K Hardware Installation Guide
3. Repeat step 2 for each axis.
4. Continue with the rest of the Setup wizard. When you finish the wizard, it automatically
inserts the tuning gains, along with the other setup elements, into your setup program.
Tuning-Related Commands
(see
6K Series Command Reference
for details)
Tuning Gains
:
SGP
............ Sets the proportional gain in the
P
IV&F servo
algorithm.
SGI
............ Sets the integral gain in the P
I
V&F servo algorithm.
SGV
............ Sets the velocity gain in the PI
V
&F servo algorithm.
SGAF
.......... Sets the acceleration feedforward gain in the PIV&
F
a
algorithm.
SGVF
.......... Sets the velocity feedforward gain in the PIV&
F
v
algorithm.
SGILIM
...... Sets a limit on the correctional control signal that
results from the integral gain action trying to
compensate for a position error that persists too long.
SGENB
........ Enables a previously-saved set of PIV&F gains. A set
of gains (specific to the current feedback source
selected with the
SFB
command) is saved using the
SGSET
command.
SGSET
........ Saves the presently-defined set of PIV&F gains as a
gain set
(specific to the current feedback source on
each axis). Up to 5 gain sets can be saved and enabled
at any point in a move profile, allowing different gains at
different points in the profile.
Feedback Setup
:
SFB
.............Selects the servo feedback device (encoder or analog
input). To use analog input feedback, you must first use
the
ANIFB
command to configure the targeted analog
input to be used for feedback.
IMPORTANT: Parameters for scaling, tuning gains,
max. position error (
SMPER
), and position offset (
PSET
)
are specific to the feedback device selected (with the
SFB
command) at the time the parameters are entered
(see programming examples in
Programmer’s Guide
).
ERES
..........Encoder resolution.
SMPER
........Sets the maximum allowable error between the
commanded position and the actual position as
measured by the feedback device. If the error exceeds
this limit, the controller activates the Shutdown output
and sets the DAC output to zero (plus any
SOFFS
offset). If there is no offset, the motor will freewheel to a
stop. You can enable the
ERROR
command to
continually check for this error condition (
ERROR.12-1
),
and when it occurs to branch to a programmed
response defined in the
ERRORP
program.
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