Delta Tau GEO BRICK DRIVE Manuel D’Utilisation
Geo Brick Drive User Manual
Motor Setup
215
Current-Loop Tuning: Ixx61, Ixx62, Ixx76
The current-loop tuning is done as in any Turbo PMAC digital current loop setup. The PMACTuningPro2
automatic or interactive utility can be used to fine-tune the Current-Loop. An acceptable Current-Loop
step response would look like:
automatic or interactive utility can be used to fine-tune the Current-Loop. An acceptable Current-Loop
step response would look like:
Note
Current-Loop Natural Frequencies in the range of 200-500 Hz are
good enough for most applications. Tuning the current loop too tightly
(Natural Frequency > 800Hz) can have deteriorating effects on the
position loop tuning.
good enough for most applications. Tuning the current loop too tightly
(Natural Frequency > 800Hz) can have deteriorating effects on the
position loop tuning.
Position-
Loop PID Tuning: Ixx30…Ixx39
Since no “real” encoder is used, the position-loop PID gains are pre-calculated:
I430=1024 I431=0 I432=85 I433=1024 I434=1 I435..439=0