Tuning Procedure

The system as delivered is tuned for an empty mover. Any load added to the mover it will affect how the mover behaves. The mass of the load, the stiffness of the load, and the location of the center of gravity of the load all have a drastic influence on the behavior of the mover. The mover does flex, particularly in the curve. The order in which to tune the control loops is to:

Eliminate resonant frequencies.

• For Beckhoff the TcTuningAssist to provide a Filter Type and Parameter Values.
• If the TcTuningAssist has not been run then adjust following values by hand
• SoftDriveEncoder.Bandwidth
• FilterObject Low Pass Frequency

Disable the Position Control Loop

• a. Disable PositionControl Kp
• b. Disable PositionControl Kp_Standstill
• c. Disable PositionControl Kp_Area
• d. Set Operation Mode to 9

Tune the velocity control loop.

• Adjust Velocity Control Kp
• Adjust Velocity Control Tn
• Adjust Velocity Control Kp_standStill
• djust Velocity Control Kp area
• Adjust Velocity Control Tn_area
• Adjust Velcoity Control Kp_standStill

Re-Enable and tune the Position Control Loop.

• Set Operation Mode back to 8
• Adjust Position Control Loop Kp
• Adjust FeedForward KpAccFFV
• Finalize Position Control Loop Kp
• Adjust Control Loop KpStandstill
• Adjust Position Control Loop Kp_area
• Adjust FeedForward KpAccFFV_area
• Finalize Position Control Loop Kp_area
• Adjust Position Control Loop Kp_standstill_area

If the mover oscillates, uncontrollably it cannot be tuned. Oscillations >200Hz are due to incorrect filter settings. Oscillation must be eliminated in the curves and in the straights. If the velocity loop is not correct then it is simply not possible to accurately tune the position control loop. The current control loop is performed in the motor module and does not need to be tuned nor is it accessible to the user. Prior to tuning the velocity loop all noise and resonant frequencies must be eliminated. Often as soon as a load is added to the mover and the mover is enabled it will begin to oscillate and make a very loud unpleasant noise. Depending on the construction of the load and natural resonant frequencies it may be the case that it is not possible to tune the mover/load combination and the load must be redesigned. See the Project Planning Documentation about for the physics involved with load construction.