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with the profiler enabled as a reference signal during tuning.
Drive tuning is a multi-step process that involves proper tuning of up to three different
servo loops, namely current loop, velocity loop and position loop. You can either tune
the position loop around the velocity loop, or around the current loop. Generally, it is
much easier to tune a position loop around a velocity loop because only the
proportional gain is needed. When tuning position around the current loop, a high
derivative gain may be necessary on top of both proportional and integral gains.
Start to Tune
Set the parameters and select the curves displayed in Digital Monitor before
starting self-test and tuning. See Figure 31 and Figure 32 for the parameters for the
tuning in this paper. When we tune a servo, we are trying to achieve the fastest
response with little or no overshoot, namely get a Critically Damped response.
Figure 31: Self-test motion settings for the tuning
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As mentioned above, the ACS806 adopts position around current (torque) mode, and
when tuning position around the current loop, a high derivative gain may be
necessary on top of both proportional and integral gains. Here, we set Kp=800, Ki=0,
Kd=200 first, and the self-test result is shown in Figure 33.
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Figure 32: Digital Scope settings for the tuning
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