User guide

Xenus XTL User Guide Quick Setup with CME 2
Copley Controls Corp. 113
5.10.2: Manually Tune the Velocity Loop
To tune the velocity loop, apply square-wave excitation to the velocity loop and adjust velocity loop
proportional gain (Vp) and velocity loop integral gain (Vi) to obtain a desired waveform. For instance:
NOTE: During tuning, observe any warnings that appear to the left of the trace.
5.10.2.1 Click the Scope Tool to open the Oscilloscope window.
5.10.2.2 Choose Velocity from the Function Generator Apply To: list.
On the Settings tab, make sure Auto Setup is selected.
Auto Setup automatically sets the following parameters:
Function Generator Tab
Parameter Description
Excitation Square Wave
Amplitude 10% of maximum velocity value.
Frequency 5 Hz
Settings Tab
Channel 1 Limited velocity (green)
Channel 2 Actual velocity (white)
5.10.2.3 Verify that Amplitude value is not excessive for the motor.
5.10.2.4 Click Start.
5.10.2.5 On the Gains tab, adjust velocity loop proportional gain (Vp).
1 Set velocity loop integral gain (Vi) to zero.
2 Raise or lower velocity loop proportional gain (Vp) until desired step response is
obtained. Typically, this means little or no overshoot on a 5 Hz small, slow-speed
square wave.
5.10.2.6 Adjust velocity loop integral gain (Vi) until desired settling time is obtained.
5.10.2.7 Press Stop to stop the function generator.
5.10.2.8 On the Main screen, click Save to Flash to avoid losing the changes.
5.10.2.9 If the amplifier is to be operated in velocity mode, skip the position loop setup procedures
and go to Completion Steps (p. 118).