Autotune page

Description

Used to select the type of application to be tuned.

The available values include:

The default value is

Basic

.

Tip:

Changing the Application Type value affects other attributes (Velocity Integrator Hold, Position Integrator Hold, Gain Tuning Configuration Bits).

Application Type

is unavailable when the axis is Servo On.

Used to select how tightly or hot the system tunes.

The available values include:

The default value is the current value of the attribute.

Tip:

Changing the Loop Response value affects the Damping Factor attribute.

Loop Response

is unavailable in online mode and when the axis is Servo On.

Used to select how tightly the system is physically coupled.

The available values include:

The default value is the current value of the attribute.

Applying changes to the Coupling value causes changes to the gain values that are displayed in the Gains Tuned grid in the right panel of the

Autotune

tab.

Load Coupling

is unavailable in online mode and when the axis is Servo On.

Used to calculate the position integrator bandwidth.

The position integrator bandwidth only applies when the Axis Configuration on the

General

tab is set to

Position Loop

. When the Axis Configuration is not set to

Position Loop

, this control is unavailable and you cannot modify it.

When

Application Type

is set to

Custom

and the application is in offline mode, this check box is enabled and you can modify the setting.

Position Integrator Bandwidth

is unavailable:

Used to calculate the

Velocity Integrator Bandwidth

.

When Application Type is set to

Custom

, this check box is enabled, and you can modify the setting.

Velocity Integrator Bandwidth

is unavailable:

Used to calculate the

Velocity Feedforward

.

The

Velocity Feedforward

only applies when the Axis Configuration on the

General

tab is set to

Position Loop

. When the

Axis Configuration

is not set to

Position Loop

, this control is unavailable and you cannot modify it.

When

Application Type

is set to

Custom

, this check box is enabled. and you can modify it.

Velocity Feedback

is unavailable:

Used to calculate the

Acceleration Feedforward

.

When

Application Type

is set to

Custom

, this check box is enabled. and you can modify the setting.

Acceleration Feedback

is unavailable:

Used to calculate the

Torque Low Pass Filter

.

When

Application Type

is set to

Custom

, this check box is enabled, and you can modify the setting.

Torque Low Pass Filter

is unavailable:

Used to calculate the Inertia Tuned values as part of the Autotune.

The Inertia Test results are shown in the Inertia Tuned grid control (bottom right of this tab) when the test completes.

Measure Inertia

is unavailable in offline mode as well as in online mode when the axis is Servo On.

Used to calculate information based on the load inertia.

The load inertia is measured and applied to the

Total Inertia

attribute or

Total Mass

attribute. If the value for

Rotary Motor Inertia

or

Linear Motor Mass

is non-zero, the Load Ratio is also updated.

Total Inertia

and

Rotary Motor Inertia

apply to rotary motors. Total Mass and Linear Motor Mass apply to linear motors.

The blue arrow next to a control indicates that the data is immediately committed. You cannot undo the selection.

Motion with Load is unavailable:

Used to calculate information based on the motor inertia.

If selected, when the test is run, the motor inertia is measured and is stored in the

Rotary Motor Inertia

attribute or

Linear Motor Mass

attribute.

Rotary Motor

Inertia applies to rotary motors.

Linear Motor Mass

applies to linear motors.

The blue arrow next to a control indicates that the data is immediately committed. You cannot undo the selection.

Uncoupled Motor

is unavailable:

Used to specify the maximum distance to travel for the tune operation.

The blue arrow next to a control indicates that the data is immediately committed. You cannot undo the selection.

Travel Limit

is unavailable:

Used to specify the speed of the tune operation.

The blue arrow next to a control indicates that the data is immediately committed. You cannot undo the selection.

Speed

is unavailable:

Used to enter a value that specifies the torque value that is to be applied to the tune operation. The default value is 100.

The blue arrow next to a control indicates that the data is immediately committed. You cannot undo the selection.

Torque

is unavailable:

Used select the direction of the move for the tune operation.

The available values include:

The default value is

Forward Unidirectional

.

The blue arrow next to a control indicates that the data is immediately committed. You do not have the opportunity to undo the selection.

Direction

is unavailable:

Used to initiate an autotune operation.

When the Measure Inertia check box is selected, a request is issued to the controller to start a tune.

Pending edits need to be applied before you start the test. If you have pending edits, a dialog box opens informing you that pending edits will be applied prior to executing the test. You can choose Yes or No to apply the pending edits. If you choose No, the test will not be executed.

Clicking the Start button issues a Motion Direct Command to the controller, which causes any parameters used by the Motion Direct Command to validate before starting the test.

If the Motion Direct Command does not execute due to an error condition, an error message displays and the Test State returns to the Ready state

Start is unavailable:

Used to terminate an autotune operation that was started somewhere other than the Autotune dialog box that is displayed.

When an Autotune is started from the

Start

button on this dialog box, this Stop button is not available.

This

Stop

button is only available if the Autotune was started from the user program Motion Run Axis Tuning (MRAT) or when multiple workstations are used and the Autotune is started from a different workstation.

The stop tune issues a Motion Direct Command to the controller.

Stop is unavailable:

Used to displays warning information about the tuning operation.

Danger text is unavailable in offline mode and when the Measure Inertia check box is not selected.

Used to display the status of the tuning operation.

Tune Status values include:

The default value is Ready.

Contains one column that lists the current attributes and one column that lists the calculated results of the tuning operation.

Contains a splat (*) when the Tuned Value is not the same as the Current Value.

Displays the name of the attribute.

Displays the value of the gain attribute from the controller.

Contains the tuned value for the attribute.

Tuned Values may be calculated by the autotune. When a gain is no longer used in the tune calculation (the corresponding check box in the Customize Gains to Tune group is not selected), the Tuned Value is set to zero. The tuned value column becomes blank until a tune operation is started. Once started, the data updates, regardless of the completion status.

Contains the units that are associated with the corresponding attribute.

Tip:

Attributes that do not apply to the current configuration are not shown in the grid.

Used to expand and the minus sign to collapse the

Advanced Compensation

section.

The default is that the

Advanced Compensation

section is collapsed.

The

Advanced Compensation

section is unavailable in offline mode as well as in online mode when the axis is Servo On.

Used to enter an inertia value to be used in tuning calculations.

If the

Use Load Ratio

check box is selected on the Load dialog box, this attribute is a measure of load ratio. Otherwise, this attribute is a measure of tune inertia mass.

Inertia is unavailable:

Used to calculate the inertia value in the tuning procedure.

The Compensate check box for Inertia is unavailable:

If you run the tune operation with Measure Inertia selected, the controller returns the inertia value. If Inertia is checked, the value is used in the tune equations. You can enter a different inertia value, then re-run the tune calculations using the specified value.

Used to enter a friction value in tuning calculations. Friction is unavailable:

Used to calculate the Friction value in the tuning procedure.

The Compensate check box for Friction is unavailable:

If you run the tune operation with Measure Inertia checked, the controller returns the friction value. You can enter a different friction value, then re-run the tune calculations using the specified value.

Used to enter an active torque value in tuning calculations.

Active Torque

is unavailable:

Used to calculate the active torque value in the tuning procedure.

The Compensate checkbox for

Active Torque

is unavailable:

If you run the tune operation with Measure Inertia selected, the controller returns the active torque value. You can enter a different active torque value, then re-run the tune calculations using the specified value.

Used to calculate the compensation values.

Calculate Compensation

is unavailable in offline mode.

Contains one column that lists the current attributes and one column that lists the calculated results of the tuning operation.

Contains an asterisk (*) when the Tuned Value is not the same as the Current Value.

Used to displays the name of the attribute.

Used to displays the value of the gain attribute from the controller.

Contains the tuned value for the attribute. One column lists the current attributes and one column lists the calculated results of the tuning operation.

Tuned Values may be calculated by the autotune. When a gain is no longer used in the tune calculation (that is, the corresponding check box in the Customize Gains to Tune group is not selected ), the Tuned Value is set to zero. The tuned value column becomes blank until a tune operation is started. Once started, the data updates, regardless of the completion status.

Contains the units that are associated with the corresponding attribute.

Tip:

Attributes that do not apply to the current configuration are not shown in the grid.

Used to commit the values from the Tuned Value columns of the grid to the attribute, causing the Current Value column to update.

The blue arrow next to a control indicates that the data is immediately committed. You do not have the opportunity to undo the change.

The

Accept Tuned Values

button is unavailable in offline mode and if no test was successfully completed.