Hi Aram, ZN tuning has been around for a long time (1943). I know of two emc'ers using it as a tuning method; both are engineers. Please note the response curves in your reference and the long settling times of ZN. OK, maybe for process control but maybe not the best for machine control especially with your servo amps and motors which should give you really nice performance.
Setup halscope to monitor following error and any other parameters you want to keep track of. I use only the first step of ZN, i.e. just to set P (gain). The instructions I got are slightly different from that listed in your reference. For step 1 set I and D to zero then increase P until the axis just sustains oscillation and multiply that value by 0.6. This is a good starting point for P. Using MDI with F (velocity) at some high value, half max velocity to max velocity command short moves ... just enough to reach full velocity adjust FF1 and monitor the results in terms of following error. FF1 will affect the offset of your following error and can be adjusted so the following error is virtually on zero with small bumps at either end of the travel for acceleration and deceleration. When you get the following error as small as you can with FF1 go back and vary P a bit to see if you can improve the overall result. When you are satisfied with that adjustment then try small values for D and I. I've never been very successful at finding appropriate I's and D's but that may be machine related. With my Mazak (200 ipm) I get following errors of about 0.015" with just P. Using FF1 brings this down to 0.0002" to 0.0005". Attempts to adjust FF0, I and D gets me no closer so I leave them at zero. Not quite on subject but interesting reading is: http://www.sunist.org/shared%20documents/TRANSISTOR,%20IC,%20CIRCUIT% 20...%20DATASHEETS/speed%20control%20DC%20motor%20using%20dsp.pdf Hope this helps and good luck tuning. Dave On Dec 6, 2006, at 3:13 AM, Kasparov, Aram wrote: > > > ________________________________ > > > Hi > > I found that local servo control shop has a web page information > about how to tune up servomotors. > > http://www.olympus-controls.com/whitepapers.php <http://kiccvan18/ > exchweb/bin/redir.asp?URL=http://www.olympus-controls.com/ > whitepapers.php> > > I am interesting in how close or useful that information to tune up > EMC2 AC servomotors? > > Thanks > > aramk > > > > <winmail.dat> > ---------------------------------------------------------------------- > --- > Take Surveys. Earn Cash. Influence the Future of IT > Join SourceForge.net's Techsay panel and you'll get the chance to > share your > opinions on IT & business topics through brief surveys - and earn cash > http://www.techsay.com/default.php? > page=join.php&p=sourceforge&CID=DEVDEV________________________________ > _______________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------- Take Surveys. Earn Cash. Influence the Future of IT Join SourceForge.net's Techsay panel and you'll get the chance to share your opinions on IT & business topics through brief surveys - and earn cash http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
