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SPA1 commissioning sequence
20
Start the test by clicking on the 'Start' button. The test may be aborted at any time after starting. The
following dialog picture (figure 15) shows the first move in progress:
At the beginning of this test, four different moves are performed and a worst-case steady-state error value
determined and displayed. You may wish to wait until this value is displayed before entering your desired
value, in which case, ensure that the 'Pause ...' check-box has been checked before clicking on the 'Start'
button.
If the desired steady state error is achieved at the end of this test then the following screen will appear,
see figure 16, stating that performance will be degraded if the test is continued and filter parameters
calculated.
If the desired steady state error is not achieved then, the system bandwidth is determined by performing a
series of sinusoidal moves in each axis to calculate the system gain. The above screen-shot (figure 15)
shows that the system bandwidth has not yet been determined.
Once the bandwidth has been determined, the new values for proportional gain and filters are calculated,
saved and sent to the controller. The system then performs a full 'Performance Test'. Once this is
complete, the 'View Report' button will be enabled, allowing the results of the Performance test to be
reviewed. With 'All Results' unchecked, only the worst-case results will be displayed in the report. With 'All
Results' checked, all results will be displayed in the report. From the report viewer, the report may be
saved for future viewing.
At the end of this test the option is given to enter the Manual Servo Tuning screen where it is possible to
check the machine performance. The Manual Servo Tuning step can also be accessed from the Utilities
menu.
Figure 15
Figure 16
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