1. XMP Single Axis Tuning PIV September 2000

2. Single Axis MOCON 2

3. Set Kpv with no Smoothing Filter 3

4. 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

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

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

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

8. Adjust Kpv with Smoothing Filter 8

9. 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.

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

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

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

13. Adjust Kpp13

14. 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

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

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

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

18. Adjust Kvff18

19. 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.

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

21. Adjust Kip21

22. 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

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

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

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

26. Set Acceleration Feedforward.26

27. 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

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

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

30. Viewing Axis Object with VM330

31. Filter Tool31

32. 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