Hi: :)
I am a new member and user in Galil. I am trying to tune the following system :
1. Galil DMC 4153
2. Linear motor ACM 4-S2-J3
3. XPL 230-36 amplifier
I used current/torque mode with analog +/- 10 V command. At the beginning I tried to use curve follower tuning in Galil suite to get the lowest error and stability but what I get is just oscillating motor. And also I tried to use general tuning but also the result is oscillating motor. I would like to know why both of tuning generate oscillating result?
After that I tried to use manual tune. First I increase Kd and when it starts generate sound I move to Kp. But it seems the result not good. I always get the oscillating result. Anyone can advise me how actually to tune linear motor? What is good PID value to start the tuning? I have tried to follow instruction but I think I need some guidance about manual tuning.
Thank you
Hans Krisna
:D
Galil_CoryB on 04/21/2014 - 14:09
Hans-
This instability sounds like it can be the product of the current loop in the drive as the drives present setting of the current loop is not changing. Speak with the amp manufacturer about how to tune the current loop of that amplifier.
If you know what your worst case profile will be you can use the Appnote 5491 from our Appnote page. That method will have you go through each of the tuning parameters and has a bit to say on each step and what you are looking for in the motion. To avoid drift in the beginning (when is says to issue KPn=0) use a very small KP instead of zero.
Application Notes:
http://www.galilmc.com/support/application-notes.php