Manual Tuning

This section covers the user interface for manual tuning in the WorkBench Tuning pane.

Manual Tuning Interface

Top Ribbon
Measurement Pane
Simulation Pane
Tuning Results Pane
Floating Panes
Bode Plot Elements and Tools
Bode Plot Tools
Nichols Plot

Top Ribbon


Parameter	Description
Mode	Sets the tuning method.
New	Takes a measurement of the system using the parameters values currently present on the drive. Parameter values set in the simulation pane will not be used unless they are first written to the drive.
Settings	Populates the Settings pane with Basic or Advanced parameters. The Basic setting limits the Measurement Type to Plant and Closed Loop and limits the Settings to only #FFT Points. The Advanced settings adds Current Loop and Custom to the Measurement Type options, as well as additional FFT values to the Settings options. Default Settings: Restores measurement and post-processing parameters to their default values
Default Tuning	Resets the tuning parameters to their defaults at 75 Hz bandwidth.
Read	Reads the current tuning parameters from the drive.
Write	Writes the parameters to the drive.
Tools	Enables/disables cursors, Drag-and-Drop tuning mode on the Bode Plot, and open the Cursor Tools pane.
Share	Import or export CSV files of the tuning data and parameters.
Layout	Changes the structure of the tuning window and panes. Default returns the panes the original layout settings.
Status	Shows the stability rating of the measured or simulated parameters. It is tied to the Tuning Results pane and Bode Plot pane.

Measurement Pane

Parameter	Options	Description
Measurement Type	1 - Closed Loop	Measures the response with the control loop included
	2 - Plant	Measures the response of the physical system - without the control loop
	3 - Current Loop	Measures the current loop response
	4 - Custom	Measures the response based on custom measurement input and output
Excitation Point	1 - Current	Injection point of the Noise or Sine Excitation between the Controller and the Plant
Excitation Point	2 - Velocity	Injection point of the Noise or Sine Excitation before the Controller
Excitation Type	1 - PRB	Psuedo random binary signal
	2 - Sine	Sine sweep signal that requires a start frequency, end frequency and step size
	3 - Noise	Psuedo random noise signal
Excitation Configuration Mode	0 - User Defined	User sets the Excitation Current
Excitation Configuration Mode	1 - Friction Test	Minimum current required to command continuous motion becomes the excitation current
Excitation Current	Current apply to excite the system	User defined, or determined from Friction Test
# FFT Points	Default: 4096 Range: 1024 to 32768	FFT Resolution to use to generate a Bode Plot from measured data.
# Points to Record	Determined by the #FFT Points chosen by default	Total number of sampled data points
Sampling Frequency	Default 8000 Range: 500, 1000, 2000, 4000 and 8000	Rate at which the points are sampled
FFT Overlap	Percentage	Percentage of overlap of time blocks
Max Velocity	Sets VLTHRESH to a maximum velocity for the excitation tests. If the excitation causes the motor to exceed this, a Motor Overspeed fault will be thrown.

Simulation Pane

Parameter	Option	Description
Targeted OpMode	0 - Torque, 1 - Velocity, 2 - Position	Used in determining the simulation calculations. The mode of operation the tuned system will utilize.
Position Loop Proportional Gain	AXISx.PL.KP value	Proportional Gain in the position control loop
Position Loop Integral Gain	AXISx.PL.KI value	Integral gain in the position control loop
Velocity Loop Proportional Gain	AXISx.VL.KP value	Proportional gain in the velocity control loop
Velocity Loop Integral Gain	AXISx.VL.KI value	Integral gain in the velocity control loop
Fwd Biquad 1 (AR1)	Low Pass, Lead-Lag, Resonator (Notch), and Custom BiQuad	Forward Anti-resonance filter 1
Fwd Biquad 2 (AR2)		Forward Anti-resonance filter 2
Fb Biquad 3 (AR3)		Feedback Anti-resonance filter 3
Fb Biquad 4 (AR4)		Feedback Anti-resonance filter 4
Velocity FF Gain	VL.KVFF value	Velocity Feedforward Gain
Current Loop Bandwidth	IL.BW set to 1.5 kHz	Current Loop Bandwidth
Gravity	IL.OFFSET value	Current required to hold a vertical load in place
Friction	IL.FRICTION value	Current required to overcome friction
Acceleration FF Gain	IL.KACCFF value	Current loop acceleration feedforward gain
Current Loop Velocity FF Gain	IL.KVFF value	Current loop velocity feedforward gain

Tuning Results Pane

The Tuning Results pane provides the results and parameter values used to achieve them. The data can be copied and pasted into any text editor.

Floating Panes

Any pane within the Tuning view can be moved around or floated outside WorkBench.

Use the Layout options to organize the panes to the default settings, organize the panes in tabs located across the bottom of the tuning pane, or float the Bode and Nichols Plot panes.

Plots

The bar across the top displays the 6 available plot buttons. Hovering the mouse over the plot, or plot button, highlights both. Clicking the plot buttons toggles them on and off.

Plot Options

Clicking the Options button opens the Bode Plot Legend Options pane. You can set the measured and simulated plot shown. Clicking the Measured or Simulated buttons toggles their view.

Overlays

Import overlays (plots) from previous measurements and simulations for comparison.

Stability Status

The Status gauge provides a quick visual reference of the system's stability and is in sync with the bode plot.

Bode Plot Tools

The Tools feature provides the ability to add and display cursors to the bode plot, each with or without data labels, visually adjust gains and filters on their plots, and perform Sine sweeps.

Pressing the button in the bottom right corner of Tools opens the Tools pane. The Tools tab at the bottom of the Tuning view can also open the Tools pane.