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Copyright 2001 ACS-Tech80 1 ACSPL+ Training Class SPiiPlus Feedback Tuning.

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Presentation on theme: "Copyright 2001 ACS-Tech80 1 ACSPL+ Training Class SPiiPlus Feedback Tuning."— Presentation transcript:

1 Copyright 2001 ACS-Tech80 1 ACSPL+ Training Class SPiiPlus Feedback Tuning

2 ACSPL+ Training Class Copyright 2001 ACS-Tech80 2 l Opening the Adjuster u Tools pulldown menu Feedback Tuning

3 ACSPL+ Training Class Copyright 2001 ACS-Tech80 3 Feedback Tuning l The Tuning Adjustment Process u The MMIs Adjuster is used to change gain levels and verify the resulting performance u Specifications for the amplifier, motor, and encoders are set before tuning u Amp, motor, and encoder specs can be loaded from existing database files. New hardware profiles can also be saved as database files. u Velocity loop is tuned first, then the Position loop u All characteristics of the amplifier / motor setup are saved to the non-volatile memory in the controller u The setup can also be saved to a text file for backup or future reference.

4 ACSPL+ Training Class Copyright 2001 ACS-Tech80 4 l Main Menu u Tuning Procedure: l Select axis to tune l Initial Values l Safety Parameters l System Setup l Open Loop Verification l Position & Velocity Loops l Save to Flash and File Feedback Tuning

5 ACSPL+ Training Class Copyright 2001 ACS-Tech80 5 l Initial Values u Tuning Options: l Start from current values l Copy values from a previously tuned axis l Load parameters from a backup file l Reset all values to factory defaults u Click Close or Start Adjuster to return to Adjuster main menu Feedback Tuning

6 ACSPL+ Training Class Copyright 2001 ACS-Tech80 6 l Safety Parameters u Shows status of limits, encoder errors, etc. u Displays System Faults u Set Position Errors, Motion Limits, Maximum Torque Feedback Tuning

7 ACSPL+ Training Class Copyright 2001 ACS-Tech80 7 l System Setup: u When tuning is complete, parameters can be saved to database files for future use and / or system backup u There are separate database files for Amplifier, Motor, & Encoder settings Feedback Tuning Database menu button

8 ACSPL+ Training Class Copyright 2001 ACS-Tech80 8 l System Setup: General u Sets Single or Dual Loop mode u Dual Loop control enables Velocity Feedback tab Feedback Tuning

9 ACSPL+ Training Class Copyright 2001 ACS-Tech80 9 l System Setup: Amplifier u Set amplifier type: l DC, 1 Input l 3 Input, 2 Inputs Commutation by Controller l 3 Input, 1 Input Commutation by Amp u Set voltage & currents Feedback Tuning Name of amplifier Comment field for database file

10 ACSPL+ Training Class Copyright 2001 ACS-Tech80 10 l System Setup: Motor u Motor Topology: l Rotary l Linear u Motor Type: l DC Brush l DC Brushless, AC Servo Feedback Tuning

11 ACSPL+ Training Class Copyright 2001 ACS-Tech80 11 l System Setup: Position Feedback u Encoder Topology: l Rotary l Linear u Encoder Type: l Quadrature l Up-Down l Pulse-Direction l SIN-COS l Analog Input u Encoder Frequency: l 2.5 MHz l 20 MHz l 60 MHz Feedback Tuning

12 ACSPL+ Training Class Copyright 2001 ACS-Tech80 12 l System Setup: Velocity Feedback u Only available in Dual Loop mode Feedback Tuning

13 ACSPL+ Training Class Copyright 2001 ACS-Tech80 13 l Open Loop Verification u Enable motor and run axis at low speed u Check motor & encoder wiring (direction) u Check operations of limits Feedback Tuning

14 ACSPL+ Training Class Copyright 2001 ACS-Tech80 14 l Position & Velocity Loop Menu u Select mode u Start with default values u Tune Velocity Loop first and then tune Position Loop Feedback Tuning

15 ACSPL+ Training Class Copyright 2001 ACS-Tech80 15 l Velocity Loop Tuning u Increase gain to tune axis l Use Velocity Gain for coarse adjustment l Use Integrator Gain for fine adjustment u A square wave path with a little overshoot at the leading edge is ideal Feedback Tuning

16 ACSPL+ Training Class Copyright 2001 ACS-Tech80 16 l Position Loop Adjustment u Set expected motion profile parameters u Increase position gain Feedback Tuning

17 ACSPL+ Training Class Copyright 2001 ACS-Tech80 17 l Position Loop Adjustment u Increase Position Gain to get a smooth trapezoidal waveform u Increase the Position Feed Forward u Position Error can be displayed live Feedback Tuning

18 ACSPL+ Training Class Copyright 2001 ACS-Tech80 18 l Main Menu u Save to Flash l Saves tuning parameters into the controllers non-volatile memory u Save to File l Saves axis parameters to an ASCII text file for backup u Print l Prints parameters as a text file u Exit Adjuster l Closes adjuster and goes back to MMI main menu Feedback Tuning


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