User guide

Xenus XTL User Guide Quick Setup with CME 2
Copley Controls Corp. 109
5.9.2: Auto Tune the Current Loop
(For instructions on manually tuning the current loop, see the CME 2 User Guide.)
The current loop auto tune algorithm applies a square-wave command to the current loop and adjusts
current loop proportional gain (Cp) and current loop integral gain (Ci) until a desirable waveform is
obtained.
Initial current loop proportional gain (Cp) and current loop integral gain (Ci) values can be calculated
with The Calculate Function (p. 84).
5.9.2.1 Verify that the following steps in Quick Setup with CME 2 (p. 65) have been performed:
Prerequisites, Basic Setup, Motor/Feedback Setup, Amplifier Configuration,
Command Input, Auto Phase.
5.9.2.2 Click I Loop to open the Current Loop screen:
5.9.2.3 Verify that amplifier is hardware enabled.
5.9.2.4 Click Auto Tune to open screen and start the Current Loop Auto Tune.
5.9.2.5 To Change the Auto Tune Current, Press Stop, enter the new current in the Auto Tune
Current field, and then press Start.