Composer User Manual SimplIQ Servo Drives Elmo Computer Drive 1 MAN COMPUM

User Manual: Elmo Computer Drive 1

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Composer
User Manual
for

SimplIQ

Servo Drives

Some changes have been made to the content in this manual and they will be
incorporated into the upcoming release. To view the Addendum, click here.

March 2007

Important Notice
This document is delivered subject to the following conditions and restrictions:

This manual contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Elmo Composer
software application, in conjunction with Elmo’s SimplIQ line of digital servo drives.

The text and graphics included in this manual are for the purpose of illustration and reference
only. The specifications on which they are based are subject to change without notice.

Information in this document is subject to change without notice. Corporate and individual
names and data used in examples herein are fictitious unless otherwise noted.

Doc. No. MAN-COMPUM
Copyright © 2007
Elmo Motion Control Ltd.
All rights reserved.

Revision History
Ver. 1.9

March 2007

Updated with Absolute Encoder Information (MAN-COMPUM.pdf)

Ver. 1.8

September 2004

(MAN-COMPUM.pdf)

Ver. 1.6
September 2003
(COMUGHA0903.pdf)
Support for analog incremental encoders (section 2.4), DC brush motors (section 2.7), new Auto
Tuning dialog boxes (sections 2.8.2, 2.92 and 2.10.2) and enhanced motion monitor (section 3.2)
Ver. 1.5

May 2003

Ver. 1.0

January 2003

Windows, Excel and Visual Studio are registered trademarks of Microsoft Corporation. MATLAB
is a registered trademark of The Mathworks, Inc.

Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035

Elmo Motion Control GmbH
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (07720) 8577-60
Fax: +49 (07720) 8577-70

www.elmomc.com

Elmo Composer User Manual
MAN-COMPUM (Ver. 1.9)

Contents
Chapter 1: Introduction............................................................................................................... 1-1
1.1 Composer Description....................................................................................................... 1-1
1.2 System Requirements ........................................................................................................ 1-2
1.3 Composer Installation ....................................................................................................... 1-2
1.3.1
Installing from CD-ROM .................................................................................. 1-2
1.3.2
Downloading from the Web ............................................................................. 1-3
1.4 How to Use this Manual.................................................................................................... 1-4
Chapter 2: Using the Wizard...................................................................................................... 2-1
2.1 Before You Begin ................................................................................................................ 2-1
2.2 Accessing the Composer ................................................................................................... 2-2
2.3 Creating a New Application............................................................................................. 2-2
2.3.1
Defining RS-232 Communication .................................................................... 2-4
2.3.2
Defining CAN Communication ....................................................................... 2-4
2.4 Specifying the Motor Parameters..................................................................................... 2-5
2.5 User Interface for Absolute Feedback ............................................................................. 2-8
2.5.1
Rotation Motors- Heidenhain and Stegmann ................................................ 2-8
2.5.2
Linear Motors ................................................................................................... 2-10
2.6 Defining System Limits ................................................................................................... 2-12
2.7 Tuning the Current Loop ................................................................................................ 2-16
2.8 Configuring Commutation ............................................................................................. 2-17
2.9 Tuning the Velocity Loop................................................................................................ 2-18
2.9.1
Manually Tuning the Velocity Loop ............................................................. 2-19
2.9.2
Automatically Tuning the Velocity Loop ..................................................... 2-21
2.9.3
Performing Advanced Manual Tuning - Velocity Loop............................. 2-24
2.10 Tuning the Position Loop................................................................................................ 2-27
2.10.1
Manually Tuning the Position Loop.............................................................. 2-27
2.10.2
Automatically Tuning the Position Loop ..................................................... 2-29
2.10.3
Performing Advanced Manual Tuning - Position Loop............................. 2-31
2.11 Tuning the Dual Loop ..................................................................................................... 2-33
2.11.1
Manually Tuning the Dual Loop ..................................................................... 2-1
2.11.2
Automatically Tuning the Dual Loop ............................................................. 2-2
2.11.3
Performing Advanced Manual Tuning - Dual Loop..................................... 2-3
2.12 Saving Your Application................................................................................................... 2-5
2.13 Composer Shortcuts........................................................................................................... 2-6
2.13.1
Opening an Existing Application..................................................................... 2-6
2.13.2
Opening Communication Directly .................................................................. 2-8
2.13.3
Loading the Network ........................................................................................ 2-9
Chapter 3: Using the Composer................................................................................................. 3-1
3.1 The Composer Desktop ..................................................................................................... 3-1
3.1.1
The Toolbar ......................................................................................................... 3-1
3.1.2
The Menu Bar ..................................................................................................... 3-2
3.1.3
Getting Help ....................................................................................................... 3-4
3.2 The Motion Monitor........................................................................................................... 3-4

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3.2.1
Motion Monitor Recorder ................................................................................. 3-4
3.2.2
Motion Monitor Indicators ............................................................................... 3-7
3.3 The Smart Terminal ........................................................................................................... 3-8
3.3.1
Terminal .............................................................................................................. 3-8
3.3.2
Tabbed Dialog Boxes ......................................................................................... 3-8
3.4 The Elmo Studio ............................................................................................................... 3-17
3.5 The Scope........................................................................................................................... 3-17
3.5.1
The Scope Toolbar............................................................................................ 3-18
3.5.2
Using the Scope Menu..................................................................................... 3-19
3.6 The Application Editor .................................................................................................... 3-24
3.7 The Table Editor ............................................................................................................... 3-24
3.7.1
Creating a PVT or PT Data File ...................................................................... 3-25
3.7.2
Editing a File in the Table Editor ................................................................... 3-25
3.7.3
Downloading a Table to a Drive .................................................................... 3-26
3.8 The Sync Manager............................................................................................................ 3-27
3.9 Advanced Manual Tuning .............................................................................................. 3-28
3.10 Downloading Firmware .................................................................................................. 3-29
Appendix: Using the Advanced Filter Designer .................................................................... A-1
Glossary ......................................................................................................................................... G-1
Index................................................................................................................................................. I-0

Composer User Manual
MAN-COMPUM (Ver. 1.9)

Chapter 1: Introduction
The Composer is a sophisticated suite of Windows-based software designed by Elmo to
enable you to quickly and easily set up and fine tune your motion control systems using
Elmo’s digital servo drives. The Composer can work with any brush or brushless servo
motor.
You can use the Composer to:

Tune the connected servo drive, either manually or automatically

Test the controlled feedback system

Interpret the test results and modify the test parameters

Perform tests with different controllers to evaluate the closed-loop performance for
different sytsem noise levels and different margins, in order to determine the optimal
controller settings for specific applications

Each application created in the Composer includes a unique name, all host
communication parameters used with the application, a dedicated program (if any), and
all driver and motor parameters defined for that specific application. Each application
can be applied to other drives with the same characteristics, without requiring a new
setup process.

1.1

Composer Description

The Composer includes a range of tools for setting up your system. They include:

The Composer Wizard, used for the initial tuning of single-axis servo drives. The
Wizard tunes the drive to the motor, creates the application database and specifies
the dedicated I/O components. It fully analyzes the entire system and defines all
resonance and mechanical parameters.

The Smart Terminal, used to manually manipulate the servo drive.

The Motion Monitor, which controls the drive recording function to display the
current drive status. The Motion Monitor can record and display almost any system
value.

The Elmo Studio, a basic environment for writing, downloading and executing
programs in the connected drives.

The Application Editor, which enables you to view all the parameters of the open
application.

The Table Editor, used to edit an existing PVT or PT table and to download it to the
connected drive.

The Sync Manager, which synchronizes the internal clocks of all drives connected
through the CANopen network.

The Scope, which displays the recorded parameters and provides a wide range of
mathematical functions for manipulating the recorded curves. Data from the Scope
can be exported to other programs such as Microsoft Excel or the MathWorks
MATLAB.

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A networking option, which provides direct communication with multiple servo
drives. You may set up as many as eight drives to communicate with the Composer
via RS-232 communication, using different COM ports. In addition, you may connect
up to 127 drives – each with a unique ID number – through CAN communication; the
Composer supports the CANopen protocol for this type of network. After defining
your network, you can save the configuration, and later restore the network in a
single click.

In order to optimally configure your system, each data item must be correctly set and
entered. The drive checks for database consistency before applying power to the motor,
and rejects the data if inconsistencies are found. Once the motor is on, it prevents the
acceptance of parameters that affect database integrity.

1.2

System Requirements

In order to install the Composer on your computer, the following items are required:

Microsoft Windows 95/98/ 2000 /XP

At least 32 MB RAM

300 MB of hard drive space

CD-ROM drive

Pentium II processor or equivalent (minimum)

RS-232 port

CANopen board for CANopen serial communication (optional)

1.3

Composer Installation

You can install the Composer software either by using the CD-ROM delivered with the
Elmo servo drive or by downloading the software directly from the Elmo website.

1.3.1

Installing from CD-ROM

To install the Composer software from the CD-ROM to your hard drive:
1.

Insert the CD-ROM into your CD-ROM drive.

From the Windows taskbar, select Start - Run. The Run dialog box will be displayed.

In the Open text box, type: d:\setup.exe or e:\setup.exe, according to the drive letter.

Click OK. The Install Wizard will be displayed.

Follow the Wizard instructions to install the Composer.

Upon completion, remove the CD-ROM from the drive.

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1.3.2

Downloading from the Web

To install the Composer by downloading it from the Elmo website:
1.

Using your Internet browser, go to the Elmo website: www.elmomc.com.

From the main menu, select Support – Downloads. The Support page will be
displayed.

From the Support - Downloads menu, select Software Tools in the right column. The
Software Tools page will be displayed.

From the Software Tools menu, select the Composer, [date] option in the
Description column. The Windows File Download dialog box will be displayed.

Select the Save this file to disk option and click OK. The Save As dialog box will be
displayed.

Navigate to the location where the Composer application should be stored and click
Save. The software will be downloaded to that location.

After the download is complete (and you click Close), select Start – Run from the
Windows taskbar. The Run dialog box will be displayed.

Click Browse, navigate to the Composer folder and select the Setup.exe file. Then
click OK. The Composer Welcome dialog box will be displayed, as follows:

Click Next and follow the instructions to install the Composer.

10. Upon completion of the installation, you may wish to create a desktop shortcut for
fast access to the application.

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1.4

How to Use this Manual

This Composer user manual explains how to install the application, tune your Elmo servo
drive and use the Composer software tools. It is organized as follows:
Chapter 2, Using the Wizard, explains how to connect your Elmo servo drive to your PC
and the motor, and then tune the drive using the Composer Wizard.
Chapter 3, Using the Composer, describes the other Composer tools, including the Motion
Monitor, the Smart Terminal, the Elmo Studio and the Application Editor.
Chapter 4, Using the Elmo Studio, describes the Elmo Studio program editing application
integrated with the Elmo Composer.
The Appendix, Using the Advanced Filter Designer, explains how to use that tool to define
a specialized filter used for tuning the velocity loop, position loop and dual loop.
The Glossary contains a list of terms used in the software, along with brief explanations.
This manual is an integral part of the SimplIQ documentation set, which includes:

The Harmonica, Cello and Bassoon Installation Guides, which provides full
instructions for installing one of Elmo’s SimplIQ digital servo drives.

The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate a SimplIQ digital servo drive.

The SimplIQ Software Manual, which describes the comprehensive software used with
a SimplIQ drive.

The following figure describes the accompanying documentation that you will require.

Figure 1-1: Elmo Documentation Hierarchy

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Chapter 2: Using the Wizard
After connecting your Elmo servo drive to the motor and to the PC, you need to define its
setup parameters in order to customize it to the motor, create the application (with the
network, drive and motor parameters) and specify the dedicated I/O components. You
can tune:
A single-axis system
A single dominant resonance mode, or two resonances that are far apart
A balanced system, such as one with a horizontal axis
You may use the Composer Wizard to define the following:
Motor parameters
Commutation method and parameters
Current loop tuning
Commutation tuning
Velocity loop tuning
Position or dual loop tuning
Generally, the first time you use the Composer to initialize a drive, you will use the
Wizard to define the drive application by tuning of the various loops either manually or
automatically. The Composer stores the parameters for feedback, load, drive,
communication and user program in an application database.
Once you have completed your initial setup using the Composer Wizard, you can verify
that the configuration parameters meet your requirements by viewing them before
running the motor. When you are satisfied with the configuration, you save the setup
information as a designated application. This completes the installation and you can run
the motor.

2.1

Before You Begin

In order to ensure successful drive setup, you should verify that the following conditions
are met:
If you are using CANopen networking, be sure that the required CAN board(s) have
been successfully installed.
The static friction should be less than 20 percent of the full torque. While most systems
use drives that can produce current satisfying this condition, it is recommended to
check this by injecting 20% of full current and determining if the plant moves.
The system should be properly balanced; that is, the motor speed should be 0 when
zero current is injected to it.
The system should be open-loop stable. For example, the Composer Wizard cannot be
used with an inverted pendulum.
The mechanical system should not have any low resonance below 5 Hz.

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The motor axes should be free to move plus or minus several electric poles.
While the Wizard can operate with noisy or fairly inaccurate encoders, encoder
accuracy should be no less than several hundreds per cycle.

2.2

Accessing the Composer

You access the Composer in one of two ways:
By clicking the

shortcut icon on the desktop

By selecting Start – Programs – Composer from the Windows taskbar
The Welcome to Composer Application window is displayed immediately, as follows:

2.3

Creating a New Application

Creating a new application entails giving it a unique name, defining the communication
network to be used and specifying the relevant motor and drive parameters. To define
the new application, click Create a New Application from the Welcome to Composer
Application window. If you have already accessed the Composer application, you can do
one of the following:
Click the

button in the Composer toolbar.

Select Tools – Create New Application from the Composer menu bar.

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The Application Name and Communication Type dialog box will be displayed, as
follows:

This dialog box enables you to name your new application and to define the
communication type used with it.
1.

In the Application Name text box, type a name that clearly defines the new
application. The parameters for the communications option last used by the host for
the drive application are displayed in the Last Successful Communication
Properties text box.

To display the parameters of a different communication type (RS-232 or CAN), click
the relevant option in the Select Communication Type block. The parameters last
used by the host for that type of communication (if any) will be displayed in the Last
Successful Communication Properties text box.

If you are satisfied with the parameters displayed in the Last Successful
Communication Properties text box, click Next to activate the connection and begin
specifying your motor parameters (continue to section 2.4). If you wish to change
any parameter for your selected communication type, click Properties. The relevant
dialog box will be displayed (sections 2.3.1 and 2.3.2).

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2.3.1

Defining RS-232 Communication

If you selected RS-232 as your communication type, the RS-232 Properties dialog box will
be displayed, as follows:

Use the Com Port, Bits per Second and Parity drop-down lists to select the appropriate
setting for each parameter. You can use the Restore Defaults button to recall the default
settings; the defaults are COM 1 (Com Port), 19,200 (Bits Per Second) and None (Parity).
When you are finished, click Connect to activate the communication link. If a
Communications Error occurs, try increasing the baud rate.

2.3.2

Defining CAN Communication

Before defining CAN communication parameters, be sure to define the specific CAN
control board and firmware installed in your computer. Then select CAN as your
communication type. The CAN Properties dialog box will be displayed, as follows:

In the Node ID text box of the CAN dialog box, enter a unique number for the drive
node. The permissible number of nodes ranges from 1 to 127.

From the Baud Rate drop-down list, select the baud rate that is used for all nodes of
the network.

Click the Board tab to display the CAN Properties – Board dialog box, as follows:

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From the Manufacturer drop-down list, select the name of the board manufacturer.

From the Board Type drop-down list, select the name of the CAN board installed in
your computer.

In the CAN Number text box, type the number of the on-board controller (0 or 1)
defined in the board setup process. The Segment Address and the IRQ value,
defined during CAN installation, are displayed here only for reference.

Click Connect to activate the CAN network connection. This process may take a bit
of time, and the Composer will display a status bar to indicate connection progress.

2.4

Specifying the Motor Parameters

After defining your communication type and making the connection, the next step in
drive setup is to define your motor parameters. You do this in the System Database
dialog box, displayed when you click Next in the Application Name and Communication
Type dialog box:

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Check the Elmo servo drive name displayed in the ELMO Driver version text box
(read from the controller) and verify that you are working with the correct drive.

This dialog lists motor manufacturers and motors that are stored in the drive
database.
If these lists include your motor, select the appropriate names from the Motor
Manufacturer Name and Motor P/N lists. The motor parameters will be displayed in
the lists and text boxes in the Motor Parameters block.
If these lists do not include your motor, click the New command button, and in the
Motor Manufacturer Name and Motor P/N text boxes, enter the appropriate
information. Then, enter the following motor parameters:

Motor Type:
For your specific type of Servo Drive, select Linear Brushless, Rotating
Brushless or Rotating Brush.

Continuous Stall Current: the maximum allowed continuous motor current, in
amperes (A).

Maximum Mechanical Speed: the maximum motor speed, in m/sec for linear
motors and RPM for rotating motors.

When entering the last two parameters, be sure that these two values are listed
exactly as they appear in the motor manufacturer’s data sheet.
When you have finished creating the new entry for the database, click Add.

To change the motor parameters, select the motor and click Edit. You may use these
changed values for testing in the Wizard. If you wish to save the new values, change
the name in the Motor P/N text box and click Add.
To delete a manufacturer name or a part number that you have entered, select the
name and then click either Remove manufacturer or Remove motor, as appropriate.
Only motors that you have entered in the database can be removed.

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Click Next to continue defining your motor. The Commutation Feedback Parameters
dialog box will be displayed.

From the Current Main Commutation Feedback drop-down list, select the primary
encoder type used in your motor (the system may also have an auxiliary feedback
mechanism). According to the motor type defined in the System Database dialog
box, the system will display the text boxes relevant to defining the current
commutation feedback.
For a rotary motor, a dialog box similar to the following will be displayed:

For a linear motor, a dialog box similar to the following will be displayed:

Table 2-1 outlines the various options (parameters are fully explained in the
Glossary of this manual).

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Motor Type
Linear Brushless

Rotating Brush

Current Main
Commutation Feedback

Text Box

Encoder
or
Encoder and Digital Hall

Magnetic Pitch (m)

Encoder

Pulses per Revolution

Pulses per Meter (lines/m)
Resolution (counts/m)
(4 x Pulses per Meter value)

Counts per Revolution
(4 x Pulses per Revolution value)
Rotating Brushless

Linear DC

Encoder
or
Encoder and Digital Hall

Pulses per Revolution
Counts per Revolution
(4 x Pulses per Revolution value)

Digital Hall

Number of Pairs of Poles

Encoder

Pulses per Revolution

Table 2-1: Current Main Commutation Feedback Parameters
6.

Enter the values for each of the displayed parameters.

Click Next to complete the motor definition and continue to the next stage of setup.

2.5

User Interface for Absolute Feedback

2.5.1

Rotation Motors- Heidenhain and Stegmann

•

Serial Interface– a drop down menu with the following options: Hiperface or
EnDat2.1 formats.

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•

Absolute Single Turn Position Resolution–a drop down menu that represents, in
terms of bits, single-turn feedback cycle. The number of counts would be 2^number
of bits. This value is practically the digital absolute resolution derived from the
feedback and can be read from the encoder data sheet. Sine/cosine resolution
improves this value but is derived from firmware manipulation. The value can be
read from the encoder data sheet.

•

Absolute Multi-Turn Position Resolution– a drop down menu that represents, in
term of bits, the multi-turn feedback resolution. The number of full mechanical
resolution without loosing the origin (absolute position) is 2^number of bits turns.

•

Sine/Cosine Periods per Revolution– a drop down menu that represents the
number of sine/cosine signal cycles per mechanical revolution. After the absolute
position is determined by the SimplIQ drive (typically after power up), the position
is calculated from the sine/cosine signals and the “Multiplication Factor”.
Note:
The following should apply:
1. SINGLE-TURN + MULTI-TURN ≤ 32 bit resolution
2. SINGLE-TURN ≤ 32 and MULTI-TURN ≤ 16 bit resolutions
By clicking on the “Next” button, the “Commutation Feedback Parameter II”
window will appear. The Composer updates the drive with the relevant
commutation and feedback parameters needed.

•

Multiplication Factor – is a drop down list that represents, in term of bits, the
number of position counts in one cycle of the analog (Sine\Cosine) signal. The
limitation for the multiplication factor are:
For rotary motors:

Multiplication Factor ≤
Where:

10 9
(2 MULTI _ TURN + 1) ∗ N

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N: Number of sine/cosine signals per mechanical resolution

For linear motors:

Multiplication Factor ≤

10 9 * N
L

where:
N: Period of a single analog sine\cosine. Typically in mm/inches
L: Length of the linear sensor. Typically in meters/legs
Both N and L must be the same (distance) units.
•

Total counts per revolution– displays the final calculated user resolution

•

Additional Commutation Sensor- The commutation sensor in absolute encoders is
derived from the analog signals (sine/cosine). In cases where the sensor is not
located on the motor and the motor is mounted with Digital Halls, the “Additional
Commutation Sensor” enables correction of the commutation angle in each Hall
edge. The feature is available for the Cornet, Tuba, Cello, Didge, Eagle, Falcon and
Drum products for rotary and linear motors.

•

Change…- The push button introduces the “Low Pass Filter” window. The low
pass filter filters the analog signals for Speed-Readout. By default there is “no value”
and “Not Configured!” appears. By clicking on “Change…”, the user can apply any
filter and see the theoretical step response of his/her choice. Typical values for this
filter are between 400-700Kz.

Click on the “Next” …

2.5.2

Linear Motors

For Stegmann feedbacks:

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For Heidenhain feedback:

•

Serial Interface– a drop down menu with a list of the serial interfaces: Hiperface or
EnDat2.1 formats.

•

Magnetic Pitch– an Edit Box which represents the distance of one electrical cycle in
millimeters. The value is taken from the motor’s data sheet.

•

Measurement Length (Hiperface) or Measuring Length (EnDat)– an Edit Box which
represents the length of linear sensor in millimeters. The value is taken from the
sensor’s data sheet.

•

Absolute Position Resolution (Hiperface) or Measuring step (EnDat)– an Edit Box
which represents the distance between two sequential absolute position readouts.
The value is taken or calculated from the sensor’s data sheet.

•

Periodic length (Hiperface) or Grating (Signal) Period (EnDat)- an Edit Box which
represents the distance of one analog signal cycle. The value is taken from the
sensor’s data sheet.

When clicking on the “Next” button, the “Commutation Feeeback Parameter II” window
appears.
•

Position Counts per Meter- an Edit Box which represents the number of position
counts per meter. Integer type.

•

Change… - This push button introduces the “Low Pass Filter” window. The low
pass filter filters the analog signals for Speed-Readout. By default there is “no value”
and “Not Configured!” appears. By clicking on “Change…” the user can apply any
filter and view the chosen theoretical step response. Typical values for this filter are
between 400-700Kz.

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2.6

Defining System Limits

After defining your motor and commutation parameters (clicking Next in the
Commutation Feedback Parameters dialog box), the System Definitions and Limits dialog
box will be displayed to enable you to define how your system should behave when it
reaches an operational limit. You need to specify each value; these parameters are NOT
defined automatically by the system. Be sure that the parameters are correctly defined
because incorrectly set values could affect system safety.

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In the Driver Parameters block, enter the following values:

Application Continuous Current: the maximum current, in amperes, to be used
with the connected motor. This value must be equal to or less than the Motor
Continuous Stall Current (defined in the System Database dialog box,
section 2.4) and the value displayed in the Driver Continuous Current text box.

Application Peak Current: the maximum short-term current, in amperes, that
can be used with the application. The Wizard automatically displays the Driver
Peak Current defined by the manufacturer. The application peak current value
must be equal to or less than this value.

In the Application Mechanical Limits block, enter the following values:

Speed: the maximum motor speed that will be used in the application. This
parameter affects the reference speed limits and must be equal to or lower than
the Maximum Mechanical Speed value defined for the motor in the System
Database dialog box (section 2.4).

Stop Deceleration (SD): the maximum rate at which the load may decelerate.

Low Reference for Position and High Reference for Position: the full range, in
counts, to be used for determining the absolute position command.
Note:
Entering a number higher than 1,073,741,822 indicates that there are no
mechanical limits.

Click Next. The Logic Input dialog box will be displayed.

This dialog box enables you to define the actions that should occur when the various
input signals – are activated.

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From the Select Function Behaviors and Logic Level list, select the relevant function
options and the logic level at which they are activated. The following table explains
the options available for each of the switches:
Function Behavior

Description when Activated

Inhibit (Freewheel)

The drive shuts down and the motor runs freely.

Hard Stop

The motor stops under hardware control.

Ignore

Uncommitted input. No special function is launched.

General Purpose

The relevant general purpose function is launched.

Forward Only (RLS)

The motor moves only in forward motion.

Reverse Only (FLS)

The motor moves only in reverse motion.

Begin

The motor begins operating.

Soft Stop

The motor stops under software control.

Soft & Hard Stop

The motor stops under both hardware and software control.

Abort (Freewheel)

The drive shuts down and the motor stops.

Home

Main home option is launched. Available only in Input 5 list.

AUX Home

Auxiliary home option is launched. Available only in Input 6 list.

Table 2-2: Function Behavior Options - Input
5.

Click Next to continue to the Logic Output dialog box.

In the Logic Output dialog box, repeat the selection process for the output signals,
listed in the following table:
Function Behavior

Description when Activated

AOK

The drive is ready for use.

Brake

The brake is engaged.

General purpose

Uncommitted output.

Motor enable/disable

Enable or Disable the motor.

Table 2-3: Function Behavior Options – Output

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Click Next to continue to the tuning steps. The Custom dialog box will be displayed.

If this is a first-time configuration, the Composer Wizard automatically selects the
steps that are required for fully tuning the drive and motor that you have defined.
If you selected a Rotating Brush motor type in the System Database dialog box
(section 2.4), steps 1 and 2 will automatically be deselected. Steps 4 and 5 are
mutually exclusive; you may select one or the other, or choose to skip them entirely.
To skip a step, click on the command button to toggle it to Skip . . . (the option turns
blue).
If you have not performed commutation tuning yet or if you have changed any
parameters in the Commutation Feedback Parameters dialog box, you must perform
this step; you may not skip it.
You may stop at any step in the process and the Wizard will save all the parameters
in the drive memory.
8.

To continue with initial drive setup, select either Step 1 (for digital brushless motors)
or Step 3 (for rotating brush motors).

The following sections describe each tuning step in turn.

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2.7

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Tuning the Current Loop

The Composer Wizard begins the tuning process with the current loop because the
current controller must be properly tuned before any other process can be successfully
carried out. When you select Step 1, Tuning Current Loop from the Custom dialog box, a
Tuning Current Loop dialog box similar to the following is displayed.

This step energizes the motor winding with a high-frequency current, in order to identify
the dynamic response for resistance and inductance. The result of the test is a set of welltuned current controller parameters. The controller performance is verified by a test
graph showing the Reference, Response and Controller Out vectors. The controller
output is proportional to the motor voltage and is shown in order to verify that during
the test, the motor voltage did not saturate. If the motor voltage does saturate (is clipped
at the top), the response displayed will not reflect the dynamics of the current control
loop but rather the dI/dT limits of the power supply and inductance. In such a case, use
lower Continuous Current levels (defined in the System Definitions and Limits dialog
box, section ) and repeat the current tuning process from the beginning.
To tune the current loop:
1.

Click Run in the dialog box. The current will flow into the motor A phase and divide
equally between the B and C phases. The motor current generates a fixed magnetic field,
so that the motor will jump in the direction of the magnetic field and remain there.
Be aware that the motor shaft may move while the current loop is being
tuned, up to half an electrical rotation at most. Therefore, take the
necessary precautions for the unlikely event of an undesired movement.
Upon completing the test, the system will store the current tuning information and
display the following message:

Click Yes to continue directly to the next tuning step.

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2.8

Configuring Commutation

For all brushless motors, you need to define the parameters for commutation between the
servo drive and the motor. This process automatically determines the correct phase
sequence needed for optimal commutation. When digital Hall sensors are used, the
system also finds the offset from the commutating points.
The Composer performs commutation setup by driving the motor in stepper mode in
both directions; you may select positive or negative counts for each physical direction.
The configuration process relies on the parameters entered previously in the
Commutation Feedback Parameters dialog box (section 2.4).
The Composer Wizard displays the Establishing Commutation dialog box when you
select Step 2, Establishing Commutation from the Custom dialog box, or when you click
Next in the Tuning Current Loop dialog box.

To perform commutation setup:
1.

Click Run. The motor shaft will move until the Composer finds all the needed
commutation parameters. The following message will be displayed:

Click OK. The drive will rotate the motor in what the system assumes is the positive
direction. After the rotation is complete, the following message will be displayed:

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In order to define the positive and negative directions for the motor, click either Yes
to accept the present motor direction as positive or click No to change the present
motor direction to negative. The motor will then move back to its starting position
(for subsequent tuning) and the system will store the commutation information. The
following message will be displayed:

Click Yes to complete the commutation setup and to continue to the next tuning step.

2.9

Tuning the Velocity Loop

This process enables you to tune the velocity loop and to set an optimal balance between
control gains and precise motion on the one hand; and higher stress, measurement and
quantization noise on the other.
The Composer Wizard enables you to perform this process in three modes:
Manual tuning, in which you manually configure the velocity loop by entering each of
the required parameters.
Automatic tuning, in which you select the level of fine tuning, and let the Wizard
auto-tuner determine the needed parameters automatically.
Advanced manual tuning, in which you create or modify a gain schedule table to
operate with a range of velocities.
Auto tune for Speed Design – under Position Loop, ________________________
___________________________________________________________.
When you select Step 3, Tuning Velocity Loop in the Custom dialog box or when you finish
the Establish Commutation step, the Tuning Velocity Loop dialog box is displayed as follows:

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You may tune the velocity loop manually (section 2.9.1), have the Wizard perform
automatic tuning (section 2.9.2) or perform advanced manual tuning (section 2.9.3).

2.9.1

Manually Tuning the Velocity Loop

From the Step 1: Select the Tuning Type drop-down list, select Manual Tuning. The
dialog box will remain with its default settings for manual tuning.

In the KP and KI text boxes, type the required proportional gain and integral gain
filter values for optimal step response.

In certain cases, you may wish to manually fine-tune the frequency and resonance
definitions by designing a custom filter. To do so, click the Designer button in the
Advanced Filter block. If the existing filter cannot be edited (because it has been
created by the auto-tuner or if the system sampling time has changed from the last
filter modification), the following message will be displayed:

Click Yes to open the Filter Designer in order to create a new filter, or No to view the
parameters and Bode plot of the existing filter.
The Filter Designer dialog box will be displayed as follows:

This dialog box enables you to select a filter component and — using the Bode plots
— determine how it may reduce resonance at selected frequencies. Each filter
consists of two components: Second order component and Pole component. You
may define each component or disable it by selecting None. Full details for
designing a new filter are given in the Appendix to this manual.

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In the Step 3: Set Test Parameters block of the Tuning Velocity Loop dialog box,
enter the Displacement and Velocity values (selecting the Velocity Unit that is
convenient to you). Together, these settings define the step command to be used
during testing. The -Displacement and +Displacement values (in encoder units)
indicate the upper and lower limits in which the system moves during the test phase.
The default value is one revolution divided by the number of electric poles in a
revolution.

You may use the Profiler (select the Profiler Mode checkbox) to profile a response
according to values that you set. In Profiler mode, you define the velocity command
according to Smooth Factor, Acceleration and Deceleration. Smooth factor is used
to “soften the sharp corners” of the motion speed profile, according to the
acceleration and deceleration values that you define. Smoothing a profile increases
the time required to complete the motion, due to higher acceleration and
deceleration times.

In Step 4: Set Record Parameters, select the desired recording parameters as follows:

Record Resolution (μsec) is the test data record resolution.

Maximum Record Time (sec) is the test data record time length.

Click Run Test to begin the manual velocity loop tuning. The motor will begin to
move back and forth, and the system will record the step response. Upon
completion, the motor will be disabled and a step response graph will be displayed,
as in the following example:

Figure 2-1: Step Response Graph - Manual Velocity Loop Tuning
8.

Evaluate the results in the graph and repeat steps 2 to 6 as necessary.

Click Run Test to repeat the tuning process and to produce an updated graph.

10. Repeats steps 8 and 9 until your graph indicates optimal tuning.

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2.9.2

Automatically Tuning the Velocity Loop

Using the auto-tuning mode for this process provides more precise velocity loop tuning.
To set the auto-tuning options:
1.

From the Step 1: Select the Tuning Type drop-down list, select one of the Auto
Tuning type options:

Auto Tuning for Speed Design: for a stand-alone speed mode, in which the
drive works only with the velocity loop.

Auto Tuning of Speed Design – Under Position Loop: when the drive receives
speed commands from the position controller. When selecting this option, be
sure that the position controller is not active during the tuning.

When you make your auto-tune selection, the text boxes of the data box will change
accordingly.

Tuning
may be
noisy

In the Step 2: Select Auto Tuning Parameters block, select the tuning mode from the
Auto Tuning Mode drop-down list:

Expert tuning for bounded motion (default): In this mode, the motor swings
around a chosen fixed point. Use this option for linear motors and in cases where
the motor shaft must remain within position boundaries. In this mode, the
boundaries are designated by an algorithm based on system settings; they are
displayed before the tuning process begins. If the motion is not restricted, the
Expert tuning for free motion option yields even better results.

Expert tuning for free motion: In this mode, the motor rotates freely and is
therefore not applicable to linear motors. This option is recommended if there are
no restrictions on motion (angle and position); it gives more precise results.

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Use the Response slider to select the system margin you require:

Choose a value towards Fast and Sensitive if you require a more responsive
(agile) system.

Choose a value towards Slow and Stable if you need a more robust system,
which is required in a number of cases, among them:

Machines whose mechanics may vary, as when handling loads of different
masses

A machine type that uses one type of control parameters, although the
mechanics of each machine may differ from each other.

Use the System Noise slider to set the plant noise level: a value towards Slow and
Quiet reduces the system noise more effectively. It is recommended to start with an
average level and then observe the step response at the plant input. The current is
built from two signals: a part that varies slowly due to the reference command and a
signal that varies quickly due to system noise. If the noise saturates the plant or its
fast-varying signal at the plant output, adjust the System Noise level accordingly.
Then run the test again.

To manually select the test parameters — rather than having the Wizard calculate
them for you — click the Customize Test checkbox, and in the Displacement and
Velocity text boxes, enter the values that define the step command to be used for
testing:

-Displacement and +Displacement are the upper and lower limits in which the
system may move. The default value for automatic mode, for both parameters, is
one revolution divided by the number of electric poles in a revolution.

Velocity is the square wave speed reference amplitude command.

You may use the Profiler (select the Profiler Mode checkbox) to profile a response
according to values that you set. In Profiler mode, you define the velocity command
according to Smooth Factor, Acceleration and Deceleration. The smooth factor is
used to “soften the sharp corners” of the motion speed profile, according to
acceleration and deceleration values that you define. Smoothing a profile increases
the time required to complete the motion, due to higher acceleration and
deceleration times.

In the Step 4: Set Record Parameters block, select the desired recording parameters:

Record Resolution (μsec) is the test data record resolution.

Maximum Record Time (sec) is the test data record time length.

Click Run Auto Tuning to start the auto-tuning design process. If the automatic test
parameters have been selected (the Customize Test checkbox is not selected), the
Wizard will automatically set the test parameters according to the current, speed and
displacement limitations of the controller, giving what should be the optimal results.
During the test, the motor will move backwards and forward, recording the step
response. The results will be displayed in a step response graph comparing the
velocity and the current command, as in the following example:

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Figure 2-2: Step Response Graph - Automatic Velocity Loop Tuning
9.

After the first test, check the current response at the plant input. The current is built
from two signals: one that slowly varies due to the reference command, and one that
changes quickly due to system noise. When analyzing the graph, estimate the
contribution of the system noise; if the noise saturates the plant or if the fast-varying
signal at the plant output is not acceptable, set the System Noise slider to Slow and
Quiet. However, be aware that this may decrease the system performance to some
extent. You may also wish to decrease the reaction time; in this case, set the slider
towards Fast and Noisy. When you have made your adjustments, click Run to apply
the new values, recalculate the controller parameters and produce a new step
response.

10. You may further manipulate the data by using the following command buttons:

Export data: Saves the identification data in case of fault or if errors occur during
the auto-tuning process. This is useful when troubleshooting with Elmo support
personnel.

Import data: Restores the identification data from files saved in the Export Data
process. In this case, the system will execute the final test without undergoing
the extended identification process.

Show transfer function: Displays a bode plot of the system transfer functions for
open and closed loops.

11. When you are satisfied that you have achieved optimal velocity loop tuning, you can
save your tuning results (recommended). To do so, click Export Data, enter a name
for the file, browse to the save location and click Save.
12. Click Next to continue to the next step, tuning the position or dual loop.

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2.9.3

Performing Advanced Manual Tuning - Velocity Loop

Reviewing the two previous methods of velocity tuning: Manual tuning enables you to
manually determine optimal gain filter values for a given velocity, while automatic tuning
can provide fairly precise velocity tuning parameters in a relatively short time. In cases
where precise gain values are needed for a range of velocities, the Advanced Manual
Tuning option may be desired instead.
The advanced manual tuning procedure gives you full control over gain scheduling,
enabling you to create or edit a gain schedule table for 64 different velocity values. You
may modify a table created previously (through auto-tuning or this option) or you may
build an entirely new table.
When performing advanced manual tuning, the Composer Wizard gets you the option
to determine optimal values for some or all of the 64 entries. You may determine the
optimal gains for selected velocities and then have the Wizard perform interpolation to
update the rest of the list according to those values. When you are satisfied with the
entire table, you can save it for on-going use.
To perform advanced manual tuning:
1.

From the Step 1: Select the Tuning Type drop-down list of the Tuning Velocity
Loop dialog box, select Advanced Manual Tuning. The dialog box will be
redisplayed.
If the connected drive has been tuned previously, the existing gain schedule table
will be displayed; otherwise, the Velocity column will contain the values defined
according to the sample times of the specific connected drive, with zeroes for KP and
KI values.

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Note:

To use a gain schedule table created through auto-tuning or from a previous
advanced manual tuning sessions, click Load GS Table at the bottom and
select the desired file from the Open dialog box.
2.

The recommended procedure for determining the appropriate gain values for a
specific velocity is as follows:
a.

Be sure that the Gain Scheduling ON check box (in the middle) is not selected
and that the Advanced Filter Designer is OFF. Select a velocity value from the
list or enter a new velocity value in a row appropriate to its place in the velocity
range.

Enter values for the Vel. Loop KP (proportional gain) and Vel. Loop KI
(integral gain) coefficients.

In the -Displacement and +Displacement text boxes, be sure that the values are
relevant for the selected velocity. Change them as needed.

In the Step 4: Set Record Parameters block, select the desired recording
parameters:
Record Resolution (μsec) is the test data record resolution.
Maximum Record Time (sec) is the test data record time length.

Click Run Test. The system will send the gain coefficients for the selected row
to the drive and the motor will operate at the selected velocity, turning
according to the -Displacement and +Displacement values. The recorder will
automatically record the feedback, command and current, and display the
results for you to determine if the values you entered are appropriate.

If needed, modify your values, repeating steps b. through f. until you are
satisfied that the gain values for that velocity are acceptable. You may then
highlight the row to indicate that it has been tested satisfactorily. To do so, click
the right mouse button and from the shortcut menu, select Toggle Bookmark.
The row with the bookmark will be highlighted in a light color.

Repeat steps b. through g. for one or more other velocity values until you are
satisfied that you have determined a representative amount of recommended KI
and KP values.

You may have the Wizard complete the gain schedule table for you and then test the
entire table with gain scheduling. To do so, perform the following procedure:
a.

Check the Gain Scheduling ON check box.

In the row indicating the lowest velocity value for the range to be filled in, and
in the row indicating the highest value in the range, select Accept.

Click Interpolate. The Wizard will calculate KP and KI values for all velocities
in the range between the lowest row in which you checked Accept and the
highest row in which you checked Accept. Rows before and after that range will
take the values of the first and last Accepted row, respectively.

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To test the interpolated velocity values, select a row of the table that indicates
the velocity to be reached during the test. Alternatively, in the Velocity text box,
enter the velocity value. If that exact value does not appear in the table, the
value closest to it — but not exceeding it — will be selected in the table.

Enter the -Displacement and +Displacement values to be used for the test.

Click Run Test. The system will send the gain coefficients to the drive and
activate the gain scheduling. During the test, the motor will turn according to
the -Displacement, +Displacement and other profile parameters. The recorder
will be activated automatically in order to record and display the results of the
speed, speed command and current command.
Tips:

You can remove bookmarks using the Clear All Bookmarks option from
the right-click shortcut menu.
You can also use the shortcut menu to manipulate the list of rows that
you have accepted. To automatically accept all rows, click the right
mouse button and then select Accept ALL to mark all rows as Accepted.
(If all rows are accepted, you may use the opposite command — Clear
All Accepts — to remove checks from all Accept check boxes.)
4.

To modify the gain schedule table further, repeat steps 2 and 3 as necessary.

To save your final gain schedule table, click Save GS Table. In the Save As dialog
box, enter a name for the file, browse to the location at which it should be saved, and
click Save. The system will save the table, along with its bookmarks.

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2.10

Tuning the Position Loop

According to your drive type, you will now need to tune either the position loop or the
dual — position/velocity — loop. Tuning of the dual loop is described in section 2.11.
The procedure is very similar for both loops. The Wizard performs the test using pointto-point (PTP) motions, according to the selected PTP motion and recording parameters.
The Composer records the PTP performance and compares it to the PTP trajectory.
The Composer Wizard enables you to perform position loop tuning in three modes:
Manual tuning, in which you manually configure the position loop by entering each of
the required parameters.
Automatic tuning, in which you select the level of fine tuning, and let the Composer
determine the needed parameters automatically.
Advanced manual tuning, in which you create or modify a gain schedule table that
operates for a range of velocities.
When you select Step 4, Tuning Position Loop in the Establishing Commutation dialog
box or when you finish the Tuning Velocity Loop process, the Tuning Position Loop
dialog box is displayed as follows:

Select the tuning mode from the Step 1: Select Tuning Type drop down list.

2.10.1 Manually Tuning the Position Loop
1.

From the Step 1: Select the Tuning Type drop-down list, select Manual Tuning. The
dialog box will remain with its default settings.

In the Step 2: Adjust Filter Parameters block, type the filter values required for
optimal step response in the KP (proportional gain), KI (integral gain) and KD
(derivative gain) text boxes.

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You may click the Designer button in the Advanced Filter block at the right to
better define the filter values. Refer to section 2.9.1 for general instructions, and to
the Appendix for detailed explanations about using the Filter Designer.
3.

In the Step 3: Set Test Parameters block, enter the parameters needed to define the
motor position. These values define the step command to be used for testing.

Step: the level at which the step command begins, at the system location prior to
start of the test.

Speed: the maximum speed allowed for the PTP motion. This value may not be
reached if the motion distance and the allowed accelerations are small.

Smooth Factor: the time required to reach full acceleration.

Acceleration: the rate at which the profiled motion gains speed.

Deceleration: the rate at which the profiled motion slows down.

4. In Step 4: Set Record Parameters, select the desired recording parameters:

Record Resolution (μsec) is the test data record resolution.

Maximum Record Time (sec) is the test data record time length.

Click Run Test to begin the position loop tuning. The motor will begin to move back
and forth and the system will record the step response. Upon completion, a step
response graph will be displayed as in the following example:

Figure 2-3: Step Response Graph - Manual Position Loop Tuning
6. Evaluate the results in the graph and repeat steps 2 to 5 as necessary.
7. Click Run Test to repeat the tuning process and to produce an updated graph.
8. Repeats steps 6 and 7 until your graph indicates optimal tuning.

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2.10.2 Automatically Tuning the Position Loop
Using the auto-tuning mode provides more precise position loop tuning. This process is
almost identical with the auto-tuning process for the velocity loop.
To set the auto-tuning options:
1.

From the Step 1: Select the Tuning Type drop-down list, select Auto Tuning for
Position Design.
When you make your auto-tune selection, the text boxes of the data box will change
accordingly.

In the Step 2: Select Auto Tuning Parameters block, select the tuning mode from the
Auto Tuning Mode drop-down list:

Fast tuning: This mode is applicable for simple systems, where less precise
results are adequate. It can be used if there are no restrictions on the motion
boundaries, and if you prefer to minimize the time and power required by the
system during the identification stage. You should use this mode only if the
duration of the identification phase prevents the use of an Expert mode.

Expert tuning for bounded motion (default): In this mode, the motor swings
around a chosen fixed point. Use this option if the motor shaft must remain
within position boundaries. The boundaries are designated by an algorithm
based on system settings; they are displayed before the tuning process begins. If
the boundaries are beyond the physical possibilities of the application, the
Wizard will switch to manual tuning.

Expert tuning for free motion: In this mode, the motor rotates freely and is
therefore not applicable to linear motors. This option is recommended if there are
no restrictions on the system motion (angle and position); it gives more precise
results.

Use the Response slider to select the system performance margin that you require and
set the System Noise slider to the optimal plant noise level (refer to section 2.9.2).

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In the middle of the dialog box, the Wizard displays the default test parameters. To
manually define these values, click Custom Test and enter the following values in
the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks:

Step: the level at which the step command begins, at the system location prior to
the start of the test.

Speed: the maximum speed allowed for the PTP motion. This value may not be
reached if the motion distance and the allowed accelerations are small.

Smooth Factor: the time required to reach full acceleration.

Acceleration: the rate at which the profiled motion gains speed.

Deceleration: the rate at which the profiled motion slows down.

Record Resolution (μsec) is the test data record resolution.

Maximum Record Time (sec) is the test data record time length.

Click Run Auto Tuning to start the auto-tuning process. Review the resulting graph
and revise your values (repeating steps 3 and 4) as needed until your results are
satisfactory.

When you are satisfied that you have achieved optimal position loop tuning, you can
save your tuning results (recommended). To do so, click Export Data, enter a name
for the file, browse to the save location and click Save.

Click Next to continue to the next step, saving your application setup data.

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2.10.3 Performing Advanced Manual Tuning - Position Loop
As explained in section 2.9.3, the advanced manual tuning procedure can be used to
manually define the gain schedule table. You may define any number of gain scheduling
values and have the Wizard interpolate the entire list. For positioning loop tuning, you
may use a list previously defined during velocity loop tuning.
To perform advanced manual tuning for the position loop:
1.

From the Step 1: Select the Tuning Type drop-down list of the Tuning Position
Loop dialog box, select Advanced Manual Tuning. The dialog box will be
redisplayed as follows:

Because a PI controller is used for velocity, and a different — PID.— controller is
used for position, the KP, KI and KD values will need to be defined for this gain
schedule, even if a gain schedule was created previously during velocity tuning.
Note:

To use a gain schedule table created previously, click Load GS Table at the
bottom and select the desired file from the Open dialog box.
2.

The recommended procedure for determining the appropriate gain values for a
specific velocity is as follows:
a.

Be sure that the Gain Scheduling ON check box (in the middle) is not selected
and that the Advanced Filter Designer is OFF.

Select an existing velocity or enter a new velocity value in a row appropriate to
its place in the velocity range.

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Enter the relevant gain coefficients for that velocity.

In the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks, be
sure that the required values are entered.

Click Run Test. The system will send the gain coefficients for the selected row to
the drive and the motor will operate at the selected velocity and according to the
test and record parameters that you selected. The recorder will automatically
record the feedback and display the results for the highlighted row.

Evaluate the results and, if needed, modify your values, repeating steps b.
through e. until you are satisfied that the gain values for that velocity are
acceptable. You may then highlight the row to indicate that it has been tested
satisfactorily. To do so, click the right mouse button and from the shortcut
menu, select Toggle Bookmark. The row with the bookmark will be highlighted
in a light color.

Repeat steps b. through f. for one or more other velocity values until you are
satisfied that you have determined a representative amount of recommended
gain scheduling values.

You may have the Wizard complete the gain schedule table for you and then test the
entire table with gain scheduling. To do so, perform the following procedure:
a.

Check the Gain Scheduling ON check box.

In the row indicating the lowest velocity value for the range to be filled in, and
in the row indicating the highest value in the range, select Accept.

To have the Wizard “complete” the gain scheduling for that range, click the
right mouse button and from the shortcut menu, click Interpolate Pos. Loop.
The Wizard will calculate the coefficient values in the range you defined in
step b. Rows before and after that range will take the values of the first and last
Accepted row, respectively.

To test the interpolated values, select a row of the table that indicates the
velocity to be reached during the test. Alternatively, in the Speed text box, enter
the velocity value. If that exact value does not appear in the table, the value
closest to it — but not exceeding it — will be selected in the table.

In the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks, be
sure that the required values are entered.

Click Run Test. The system will send the gain coefficients to the drive and
activate the gain scheduling. During the test, the motor will turn according to
the test and recording parameters. The recorder will be activated immediately in
order to record and display the results of the position, position command and
current command.

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Remember:

You can remove bookmarks using the Clear All Bookmarks option from
the right-click shortcut menu.
You can also automatically accept all rows of the table by selecting the
Accept ALL option from the shortcut menu. (Use Clear All Accepts to
remove all checks.)
4.

To modify the gain schedule table further, repeat steps 2 and 3 as necessary.

2.11

Tuning the Dual Loop

Tuning a dual loop is very similar to tuning a position loop. As with the position loop,
the Wizard performs the test using point-to-point (PTP) motions and the Composer
records the PTP performance and compares it to the PTP trajectory. Like the velocity and
position loops, you have three options:
Manual tuning, in which you manually configure the position loop by entering each of
the required parameters.
Automatic tuning, in which you select the level of fine tuning, and let the Composer
determine the needed parameters automatically.
Advanced manual tuning, in which you create or modify a gain schedule table that
operates for a range of velocities.
When you select Step 5, Tuning Dual Loop in the Establishing Commutation dialog box
or when you finish the Tuning Velocity Loop process, the Tuning Dual Loop dialog box
is displayed as follows:

Select the tuning mode from the Step 1: Select Tuning Type drop down list.

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2.11.1 Manually Tuning the Dual Loop
1.

From the Step 1: Select the Tuning Type drop-down list, be sure that Manual
Tuning is selected. The dialog box will remain with its default settings.

In the Step 2: Adjust Filter Parameters block, type the filter values required for
optimal step response in the KP and KI (proportional gain and integral gain) text
boxes of both the the Inner Velocity Loop and Output Position Loop blocks.
You may click the Designer button in the Advanced Filter block to better define the
filter values. Refer to section 2.9.1 for general instructions, and to the Appendix for
detailed explanations about using the Filter Designer.

In the Step 3: Set Test Parameters block, enter the parameters needed to define the
motor position. These values defines the step command to be used for testing.

Step: the level at which the step command begins, at the system location prior to
start of the test.

Speed: the maximum speed allowed for the PTP motion. This value may not be
reached if the motion distance and the allowed accelerations are small.

Smooth Factor: the time required to reach full acceleration.

Acceleration: the rate at which the profiled motion gains speed.

Deceleration: the rate at which the profiled motion slows down.

In Step 4: Set Record Parameters, select the desired recording parameters:

Record Resolution (μsec) is the test data record resolution.

Maximum Record Time (sec) is the test data record time length.

Click Run Test to begin the dual loop tuning. The motor will begin to move back
and forth and the system will record the step response. Upon completion, a step
response graph will be displayed for evaluation.

Figure 2-4: Step Response Graph - Dual Loop Tuning
6.

As in previous tests, revise your values as necessary and rerun the tests until the
results are satisfactory.

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Using the Wizard

MAN-COMPUM (Ver. 1.9)

2.11.2 Automatically Tuning the Dual Loop
Using the auto-tuning mode provides more precise position loop tuning. This process is
almost identical with the auto-tuning process for the velocity loop.
Set the auto-tuning options as you did in the Tuning Velocity Loop dialog box:
1.

From the Step 1: Select the Tuning Type drop-down list, select Auto Tuning for
Dual Loop Design.
When you make your selection, the text boxes of the data box will change accordingly.

In the Step 2: Select Auto Tuning Parameters block, the Expert tuning for bounded
motion option will be selected; it is the only option available for dual loops.