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Operating the XtraDrive Using XtraWare
4.6.
Tuning the Control Loops
The mathematical coefficients of the control loop, an advanced control
algorithm, must be tuned in order to ensure good system behavior.
These coefficients can be tuned either manually or automatically (Auto-
tuning). Two Auto-tuning procedures are available: one that calculates the
coefficients based only on the user-specified motor inertia ratio (Fast
Tuning), and one that sets the coefficients experimentally by moving the
motor and analyzing its behavior (Fine Tuning).
4.6.1.
Manual Tuning
Manual tuning can be performed according to the instructions provided in
the XtraDrive User Manual.
4.6.2.
Auto-tuning
Auto-tuning is applicable in programming mode only
(Pn000.1 = D).
In driver version 2.91, auto-tuning is not available for linear motors.
When you select the Auto-tuning option from the Maintenance menu, the
Auto-tuning window (Figure 21) is displayed:
Figure 21: Auto-tuning Window
34
XtraWare User Manual
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Troubleshooting
