XMP Single Axis Tuning PIV September 2000

Single Axis MOCON 2

Set Kpv with no Smoothing Filter 3

4 Important XMP Settings 1.Kvff = 1 2.Kpp=0 3.Error limit should be set for move distance 4.Position error limit action set to abort Parameters to be adjusted 1.Kpv

Kpv too low with no Smoothing Filter 5 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kpv too High with no Smoothing Filter 6 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kpv Acceptable with no Smoothing Filter 7 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Adjust Kpv with Smoothing Filter 8

Set Kpv with Smoothing Filter 9 Important XMP Settings 1.Kvff = 1 2.Kpp=0 3.Error limit should be set for move distance 4.Position error limit action set to abort Parameters to be adjusted 1.Kpv 2.Ka1 is varied from 0 to 1 after Kpv is set.

Kpv too Low with Smoothing Filter10 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kpv too High With Smoothing Filter11 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kpv Acceptable with Smoothing Filter12 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Adjust Kpp13

Set Kpp14 Important XMP Settings 1.Kvff = 0 2.Kpv value already set 3.Ka1 value already set 4.Error limit should be set for move distance 5.Position error limit action set to abort Parameters to be adjusted 1.Kpp

Kpp too low15 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kpp acceptable16 Position Error – Black Commanded Velocity - Red Actual Velocity – Green DAC OUT - Yellow

Kpp too High17 Position Error – Black Commanded Velocity - Red Actual Velocity – Green DAC Out Yellow

Adjust Kvff18

Set Kvff19 Important XMP Settings 1.Kpp value already set 2.Kpv value already set 3.Ka1 value already set 4.Error limit should be set for move distance 5.Position error limit action set to abort Parameters to be adjusted 1.Kvff is set to one Note: Kvff is set to 1 if the same encoder is used For both position feedback and the velocity estimate In a dual loop system Kvff will be the ratio of The velocity encoder to the position encoder for a given distance.

Kvff Acceptable20 Position Error – Black Commanded Velocity - Red Actual Velocity – Green Position Error – Black Commanded Velocity - Red Actual Velocity – Green DAC OUT - Yellow

Adjust Kip21

Set Kip22 Important XMP Settings 1.Kvff value already set 2.Kpp value already set 3.Kpv value already set 4.Ka1 value already set 5.Error limit should be set for move distance 6.Position error limit action set to abort Parameters to be adjusted 1.Kip

Kip low23 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kip Acceptable24 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Kip too High25 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

Set Acceleration Feedforward.26

Set Kaff27 Important XMP Settings 1.Kip value already set 2.Kvff value already set 3.Kpp value already set 4.Kpv value already set 5.Ka1 value already set 6.Error limit should be set for move distance 7.Position error limit action set to abort Parameters to be adjusted 1.Kaff

Jerk and Acceleration Profiles Kaff=028 Commanded Velocity – Red Actual Velocity – Green DAC Out - Purple Commanded Jerk – Brown Commanded Acceleration – Green

Kaff is set29 Commanded Velocity – Red Actual Velocity – Green DAC Out - Purple Commanded Jerk – Brown Commanded Acceleration – Green

Viewing Axis Object with VM330

Filter Tool31

Filter Tool Features32 1.Designs Low Pass, Notch and Custom Filters 2.Filters specified in Analog Domain 3.Mapped to digital domain with bilinear Transform 4.Prewarping performed for Low Pass and Notch Filters 5.Saves Filter Coefficients to a file 6.Loads Filter Coefficients from a file. 7.6 Biquad blocks for PID 8.5 Biquad blocks for PIV