Motor Tuning
Step-By-Step GDK is not connected to your hardware.
ContinueTuning Selection
If you are new to tuning, and would prefer to solely run the auto-tuning algorithm, continue to
If you would like to learn more about tuning and system analysis, click here.
If you are familiar with the process of tuning servo systems and would like to learn about using the GDK Tuner and Scope tools, continue to
If you would like assistance in tuning, you can Contact a Galil Applications Engineer for free assistance.
The Auto-Tuner
Basic Filter
On the right hand side of GDK, the tuning tool has been opened. Outside
of Step-By-Step, the tuner can be opened by pressing the
icon in the top
left of GDK.
The tuner tool consists of multiple tabs each meant to interact
with different sectors of the controller's filter parameters. The
"Basic Filter" tab currently open shows the proportional (KP),
derivative (KD), and integrator (KI) gains, as well as the integrator voltage
limit (IL). You can change the values of the gains by either entering
new values into the input boxes, or dragging the sliders. Other tabs
within the tuner allow tweaking of additional filter parameters
such as the feedforward gains, pole and notch filters, and the
global servo update rate.
Algorithm Settings
The auto-tuning settings for initial step input and duration of the auto-crossover method can be adjusted in the Tuning Algorithms tab.
Test Signals
When analyzing the system's performance, the tuner has two options:
Step Input and Profiled move. You can change the currently active test signal
by either selecting it from the drop down menu in the tuner,
or clicking the corresponding button below in Step-By-Step.
With the Step Input selected, you can
change the settings for the input step size as well as the
dwell time between steps. If using the step input, a dwell time
should be selected such that the system has adequate time to settle,
and a step input size should be selected such that the motor moves
an appreciable amount.
Within the Profiled Move test
signal, the move distance, dwell time, speed,
and acceleration of the profiled move can all be adjusted.
Whenever the Test Signal button is pressed, the currently active test signal (Step Input or Profiled Move) will be sent to the controller. The active test signal is also automatically performed at the end of the auto-tuning algorithm, and is selected via the drop down menu in the Tuner. If open, the scope will automatically plot the system's response to the test signal.
To begin tuning and visualizing the system's response, open the scope.
Outside of Step-By-Step, the scope can be opened by clicking the
icon
in the top left of GDK.
Step Input
You can now begin tuning by running the auto tuning algorithm, or by sending test signals and manually adjusting the PID values in the Tuner. The Test Signal or Auto Tuning can be performed by clicking the buttons below, or pressing the corresponding button at the bottom of the tuner tool. You can change the axis being tuned by selecting the desired axis from the Axis drop down menu at the top of the Tuner. Once a test signal is plotted in the scope, the following data will be displayed: In red, the commanded position (RP). In blue, the actual position (TP). In green, the position error (TE). Lastly, in purple, the commanded torque (TT).
Once you are finished tuning, select Continue to Save.
Auto-Tuning
To run the auto-tuner, press the button below. Once completed, the system's response to a step input will be plotted in the scope with the following data: In red, the commanded position (RP). In blue, the actual position (TP). In green, the position error (TE). Lastly, in purple, the commanded torque (TT).
Once you are finished tuning, select Continue to Save.
Save Setup
Now that tuning is completed, lets save the settings that have been created to the controller.
Running
Continue
If there are additional axes to configure, return to the motor setup axis selection page. Lastly, if you are finished setting up your controller, proceed to the save configuration page.