Download manual - Mesa Electronics

4I27A USER'S MANUAL
OPERATION
SERVO SYSTEM TUNING
A simple manual tuning program, 4I27TUNE, is supplied with the 4I27A. This program allows
you to manually adjust the digital filter parameters while the selected motor is in operation. In
addition, 4I27TUNE can record the step response of the servo system with the current set of filter
parameters. 4I27TUNE uses the cursor keys to select the desired parameter, and adjust that
parameter. The selectable parameters are as follows:
PARAMETER
DESC.
RANGE UNITS
KP
KD
KI
IL
SI
STEP SIZE
VELOCITY
ACCELERATION
MOTOR
TIME / DIV
gain
damping
integral
integral limit
sample interval
motor step
velocity
acceleration
selects motor
selects graph
0 to 32767
0 to 32767
0 to 32767
0 to 32767
0 to 255
100 to 10000
0 to 1073741823
0 to 1073741823
0 and 1
10 to 200
drive/err
drive/err(n)-error(n-1)
drive/accum. error
KI contribution limit
SP/(SI+1)
encoder counts
encoder counts/SP
encoder counts/ SP/ SP
milliseconds/division
SP = SAMPLING PERIOD = 256 uSec * (1+SI) with 8 MHz clock.
The following table shows the 4I27TUNE key functions.
KEY
FUNCTION
UP ARROW
DOWN ARROW
RIGHT ARROW
LEFT ARROW
PAGE DOWN
END
PAGE UP
INSERT
DELETE
CTRL HOME
ALT X
select parameter
select parameter
adjust parameter up fast (+10%)
adjust parameter down fast (-10%)
adjust parameter up slow (+1%)
adjust parameter down slow (-1%)
draw horizontal timing scale
do step and record response
clear graph
reset parameters to initial values (current motor only)
exit program
Page 15