User guide

Xenus XTL User Guide Quick Setup with CME 2
Copley Controls Corp. 115
5.11.2: Manually Tune the Position Loop
To tune the position loop, minimize following error and oscillation by running profiles and adjusting
position proportional gain (Pp), velocity feed forward (Vff), acceleration feed forward (Aff) and other
settings. For instance:
NOTE: During position loop tuning, observe any warnings that appear to the left of the trace.
5.11.2.1 Perform an auto setup test:
1 Click the Scope Tool to open the Oscilloscope window.
2 Select the Profile tab.
3 On the Settings tab, make sure that Auto Setup is checked. Auto Setup
automatically sets the following options:
Profile Tab
Parameter Description
Move Relative
Type Trap
Distance 2000 counts
Reverse and repeat Not selected
Settings Tab
Channel 1 Profile velocity (green)
Channel 2 Following error (white)
4 If the auto setup default profile distance is not
appropriate, enter an appropriate short distance.
5 Click Start.
The Profile Generator executes a short move.
NOTES:
1 The profile may not reach constant velocity during a short move.
2 If a following error occurs, open the CME 2 Control Panel ( ) and click Clear Faults.