Servotronix CD3E Quick Start Manual page 40

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7.5 Autotune the Drive
Caution! Tuning is potentially dangerous. Before starting any tuning routines, make sure
there are no persons or obstructions within the motion envelope. Also make sure the
emergency stop button is within your reach.
Autotuning serves to tune the drive's velocity and position controllers, such that good
performance and quiet operation is achieved with minimal user input.
The autotuning process performs repeated back-and-forth trapezoidal motion profiles while
monitoring performance metrics such as current command noise level and position error
settling time, and adjusting drive control parameters incrementally between each motion.
The autotuning process has three main stages:
1. The first stage is setting an appropriate trapezoidal motion profile. The profile requires
an acceleration/deceleration value that generates an actual peak current that is
adequate for operation; that is, higher than the motor continuous (rated) current, and
lower than the motor peak current.
2. The second stage is estimating values of unknown mechanical parameters: LMJR, static
friction, dynamic friction, and (optionally) resonance frequency. These values are used
for tuning the control parameters according to a motor-load model.
3. The third stage is tuning the control gains and filters in order to reach an optimal
compromise between tracking performance and robust and quiet operation. This is
achieved through trial and error; that is, performing a motion, observing the results, and
incrementally adjusting parameters while keeping track of the values that produce the
best results.
During autotuning, the drive moves the motor back and forth repeatedly using the
trapezoidal profile.
1. In ServoStudio+, select Tuning > Autotune.
Figure 7-5. Autotuning
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CD3E
Quick Start Guide