The following steps will lead to a well tuned
system. Also use follow the link to the tutorial
as a guide to mastering the process.
NOTE--the loads must me disconnected from the
winch drums, etc. in order to perform initial tuning.
- It is generally a good idea to save and export
any tuning parameters to a new file using the MAX utility before proceeding.
Keeping track on paper is also helpful.
- Look at the
tuning tutorial for reference to the basics of the process. Note also
that right clicking anywhere in MAX brings up a help panel for that item.
- Any mechanical brake must be unplugged and
manually dis-engaged before proceeding.
- Open the Calibration section of the MAX
utility..
- The Autotuning sequence rarely works
properly--it is generally best to skip this.
- Use the step response first. Calculate how
many counts are needed to rotate the shaft 1-3 times and use that value.
Increase the number of samples to see the whole move.
- Generally start with a small kP (10 or so), a
small kD (2 or so), and no kI. Work up from there. Use
the tutorial for reference.
- Once the step-response tuning is acceptable,
try the trajectory moves on the tuning panel. Try 10 or so revolutions of
the motor shaft at one-fifth speed. Be sure to adjust the number of samples
to see the whole move.
- Adjust accel, decel, times and verify that the
motion is fairly smooth. Very jagged lines can be removed by increasing the
velocity sampling rate by a factor of ten. A "wobbly" response indicates
more tuning might be necessary.
- Experiment with the S-curve value to smooth
out the corners of the motion. Load the ideal value in the axis' trajectory
parameters section of MAX.
- Be sure to note the tuning values on paper for
safe-keeping.
- Repeat with the other axes.
- Name and save your parameters using MAX.
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