User guide

CME 2 User Guide Control Loops
Copley Controls 121
Manually Tune the Velocity Loop
METHOD: Apply square-wave excitation to velocity loop and adjust proportional gain
(Vp) and integral gain (Vi) to obtain desired waveform. For instance:
NOTE: During tuning, observe any warnings that appear to the left of the trace.
1
Click the Scope Tool.
2
Choose Velocity from the Function Generator Apply To:
list.
3
On the Settings tab, make sure Auto Setup is selected.
Auto Setup automatically sets the following parameters:
Function Generator Tab
Parameter
Description
Function
Square Wave.
Amplitude
10% of maximum velocity value.
Frequency
5 Hz.
Settings Tab
Channel 1
Limited velocity (green).
Channel 2
Actual Motor Velocity (white).
4
Verify that Amplitude value is not excessive for the motor.
5
Click Start.
6
On the Gains tab, adjust velocity loop proportional gain (Vp):
 Set velocity loop integral gain (Vi) to zero.
 Raise or lower proportional gain (Vp) to obtain desired step response. (Typically,
little or no overshoot on a 5 Hz small, slow-speed square wave.)
7
Adjust velocity loop integral gain (Vi) until desired settling time is obtained.
8
Press Stop to stop the function generator.
9
On the Main screen, click Save to Flash to avoid losing the changes.