Description
The Tuner tool is used for tuning feedback loops on Galil motion controllers and PLCs. It allows easy access to the available filter, provides for test signals to evaluate the current filter, and includes auto-tuning algorithms for various applications.

Safety while Tuning
An improperly tuned feedback loop can result in instability and other undesirable motion or plant behavior.
Click the stop button on the Tuner tool to send AB;MO to disable
the feedback loop.
Working with Galil's filter
Upon connection, the tuner provides a chooser to select the axis (or PLC feedback loop channel) for the hardware. Choose the axis desired to automatically populate the filter interface.
The tuner is laid out as a toolbox view of multiple items. Each item
marked with a filter icon contains
settings for the filter. Each setting
has an interface element, such as a slider, that allows the user to set the
parameter as needed. The user may also type directly into text fields and
spin boxes to set the filter via the keyboard.

Filter panels are live. User input is transmitted directly to the controller. If the setting is changed via another source, e.g. an auto-tuner, the panel will update real time.
Test Signals
Depending upon the needs for tuning, some sort of test signal is usually employed to judge the performance of the filter. This may be a user's program, a profiled move entered into the Terminal, a motion generated by an external software application, or other test movement.
The GDK Tuner includes test signals to aid in tuning evaluation.
Open the Test Signals panel to view the
available test signals for the current connection. Modify the test signal as needed
and click the
Send Test Signal button at
the bottom of the Tuner tool to initiate the test. The button will switch
to an inactive status until the test is complete.
To aid in tuning, the tool can automatically send the specified test signal every 5 seconds while tuning parameters are adjusted on the fly.
Click the Repeat Test Signal button at the bottom of the tool to toggle the auto-repeat function.

Autotuning Algorithms
Tuning can often be greatly simplified by using one of Galil's autotuning algorithms.
GDK's Tuner tool ships with autotuning algorithms to aid in quick tuning.
Open the Tuning Algorithms panel to view the
available algorithms for the current connection. Modify the algorithm properties as needed
and click the
Run Autotuner button at
the bottom of the Tuner tool to initiate the test. The button will switch
to an inactive status until the algorithm is complete.
After the algorithm completes, the currently selected Test Signal will automatically be sent.
Advanced Tuning
See
Step-By-Step servo tuning with the Tuner and Scope
for a walk-through of tuning techniques.