Overview
TwinCAT 3 Autotuning is a tool embedded in the TwinCAT 3 Drive Manager 2 for automatically setting the control parameters of TwinCAT 3 compatible drives. It simplifies the necessary and intensive analysis of the frequency response of the mechanical system in its initial state. Based on a qualitative measurement of the mechanics with the active control parameters, the selected axis is tuned according to stability and quality conditions, whereby the limit values to be complied with can be easily selected via templates, but can also be individually adapted.
In addition to the primary control parameters, the gain factors Kp and Kv, the integration time constant Tn and the load inertia of the mechanical system, a calculation and implementation of system-stabilizing current command value filters can be carried out.
The results of the tuning are then compared and the parameters and/or filters can be applied directly.
Key Features
- Frequency response-based axis tuning of the central drive parameters
- Calculation of the total mass of the mechanical system
- Determination of system-stabilizing current command value filters
- Compliance with standardized stability criteria in consideration of dynamics
- Integration in the TwinCAT 3 Drive Manager 2
- Post-processing with TwinCAT 3 Bode Plot by exporting the measurement data and tuning results.
Principle of operation
During the autotuning process, the axis is vibrated several times using a sine-based broadband signal. In the first phase, short excitation phases are carried out to calibrate the excitation amplitudes for the initial recording of the frequency response with the preset drive parameters.
The fine-resolution recording of the initial measurement is carried out in several steps, whereby the values already determined are displayed directly in graphic form. Once the recording is complete, the new parameters (and current command value filters) are calculated. These are temporarily activated for a comparison of the frequency responses. Another recording is made for this purpose.
Finally, the results can be evaluated and downloaded.
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Risk of injury due to the drive axis starting up automatically To create the Bode plot, the drive axis performs a movement sequence that depends on the settings. At the start of the recording the drive axis starts up automatically in accordance with the set motion profile and can endanger people and material. During the recording the drive axis remains integrated in the application context (e.g. releases, monitoring, etc.).
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Supported drives
Feature | Motor configuration | TwinCAT Autotuning |
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Support AX5000 1*) | Rot./Lin |
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Support AX8000 | Rot./Lin |
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Support AMP8000 | Rot./Lin |
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Support MD8000 | Rot./Lin |
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Support ELM72xx | Rot. | In progress |
Support AMI72xx | Rot. | In progress |
Support ASI72xx | Rot. | In progress |
Support MO72xx 2*) | Rot. |
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From firmware v2.15Additional information
Subject | Information |
|---|---|
Supported feedback systems | All which are supported by the respective drive, unless otherwise specified. Examples: Hyperface DSL, EnDat® 3, etc. Autotuning only supports the primary feedback system on the motor side. The use of a secondary load-side feedback system is not possible in conjunction with autotuning. |
Motor configuration | Rot: Rotational Lin: Linear Rotational motors with a transmission ratio to a linear guide are supported. Examples: Belt, ball screw, etc. |
Supported motor types | All which are supported by the respective drive, unless otherwise specified |
1*) | TC CNC with linear motor use is not supported with the AX5000. |
2*) | So far, only the MDP profile is supported. DS402 is in progress. |
Further information in System Requirements section.