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

2. Feedback Tuning Opening the Adjuster Tools pulldown menu
Copyright 2001 ACS-Tech80

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

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

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

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

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

8. Feedback Tuning System Setup: General Sets Single or Dual Loop mode
Dual Loop control enables Velocity Feedback tab
Copyright 2001 ACS-Tech80

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

10. Feedback Tuning System Setup: Motor Motor Topology: Motor Type: Rotary
Linear
Motor Type:
DC Brush
DC Brushless, AC Servo
Copyright 2001 ACS-Tech80

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

12. Feedback Tuning System Setup: Velocity Feedback
Only available in Dual Loop mode
Copyright 2001 ACS-Tech80

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

14. Feedback Tuning Position & Velocity Loop Menu Select mode
Start with default values
Tune Velocity Loop first and then tune Position Loop
Copyright 2001 ACS-Tech80

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

16. Feedback Tuning Position Loop Adjustment
Set expected motion profile parameters
Increase position gain
Copyright 2001 ACS-Tech80

17. Feedback Tuning Position Loop Adjustment
Increase Position Gain to get a smooth trapezoidal waveform
Increase the Position Feed Forward
Position Error can be displayed live
Copyright 2001 ACS-Tech80

18. Feedback Tuning Main Menu Save to Flash Save to File Print
Saves tuning parameters into the controller’s non-volatile memory
Save to File
Saves axis parameters to an ASCII text file for backup
Print
Prints parameters as a text file
Exit Adjuster
Closes adjuster and goes back to MMI main menu
Copyright 2001 ACS-Tech80