The Tuner tool is used for tuning feedback loops on Galil motion controllers and PLCs. It allows easy access to the available filter, provides for test signals to evaluate the current filter, and includes auto-tuning algorithms for various applications.
Safety while Tuning
An improperly tuned feedback loop can result in instability and other undersirable motion or plant behavior.
Click the stop button on the Tuner tool to send AB;MO to disable the feedback loop.
Working with Galil's filter
Upon connection, the tuner provides a chooser to select the axis (or PLC feedback loop channel) for the hardware. Choose the axis desired to automatically populate the filter interface.
The tuner is layed out as a toolbox view of multiple items. Each item marked with a filter icon contains settings for the filter. Each setting has an interface element, such as a slider, that allows the user to set the parameter as needed. The user may also type directly into text fields and spin boxes to set the filter via the keyboard.
Filter panels are live. User input is transmitted directly to the cotnroller. If the setting is changed via another source, e.g. an auto-tuner, the panel will update real time.
Depending upon the needs for tuning, some sort of test signal is usually employed to judge the performance of the filter. This may be a user's program, a profiled move entered into the Terminal, a motion generated by an external software application, or other test movement.
The GDK Tuner includes test signals to aid in tuning evaluation.
Open the Test Signals panel to view the available test signals for the current connection. Modify the test signal as needed and click the Send Test Signal button at the bottom of the Tuner tool to initiate the test. The button will switch to an inactive status until the test is complete.
Tuning can often be greatly simplifed by using one of Galil's autotuning algorithms.
GDK's Tuner tool ships with autotuning algorithms to aid in quick tuning.
Open the Tuning Algorithms panel to view the available algorithms for the current connection. Modify the algorithm properties as needed and click the Run Autotuner button at the bottom of the Tuner tool to initiate the test. The button will switch to an inactive status until the algorithm is complete.
After the algorithm completes, the currently selected Test Signal will automatically be sent.
See Step-By-Step servo tuning with the Tuner and Scope for a walkthrough of tuning techniques.