Servotronix CDHD2S User Manual page 191

Operations
Figure 7-5 Velocity control loop - standard pole placement (PP) controller
For controller design, it is not necessary to know the load inertia. Parameter tuning is simple,
as described in the following procedure. Use the following procedure to manually tune a pole
placement (PP) velocity controller.
Procedure: Manual tuning of pole placement (PP) velocity controller
Manual tuning consists of an initial step of load inertia estimation, and subsequent steps of
designing an optimal controller.
In ServoStudio2, go to the Terminal screen or Terminal tab and perform the steps using the
standard ASCII protocol. In addition, it is possible to use the ServoStudio2 Range screen to perform
and record movements, and to evaluate and adjust parameters.
1. Set operation mode to serial velocity: OPMODE0.
2. Set the velocity compensator to standard pole placement: VELCONTROMODE2.
3. Enable drive: EN.
4. Set the required bandwidth. It is recommended to start with a low value (10Hz) and increase
it gradually.
5. Set the load inertia ratio to zero: load/motor inertia ratio (LMJR)0.
The load/motor inertia ratio (LMJR) is expressed as a percentage of the moment of inertia.
The load/motor inertia ratio (LMJR) range is 0 to 10,000. This range value represents the range
of load to inertia ratio (from 0:1 to 100:1). For example, to set the ratio of load inertia to motor
inertia to 10:1, use the command load/motor inertia ratio (LMJR) 1000. At this time, the step
response should have maximum overshoot, but the control loop should be stable (low gain).
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