User guide

CME 2 User Guide Control Loops
Copley Controls 129
… Manually Tune the Position Loop, Continued:
9
Adjust acceleration feed forward (Aff):
 Acceleration feed forward (Aff) reduces following error during profile acceleration
and deceleration.
 Click in the Aff field and adjust the value.
 Click Start after each adjustment to test on a new profile move.
NOTES:
1) If, after tuning the position loop, the motor makes a low frequency audible noise
while enabled but not moving, the velocity loop gains (Vp and Vi) may be lowered to
reduce the noise. If the gain values are set too low, the response to instantaneous rates
of change might be reduced (i.e., slow correction to disturbances or transients).
2) If the amplifier is set up to run in position mode under analog input command, and
the analog command signal produces too much noise at the motor after tuning, the
Analog Command Filter or the Velocity Loop Command Filter may be used to reduce
the noise further.
10
Tune to multiple sets of profiles representing typical moves that might be executed in
the application. Starting with Step 6 (p. 128), repeat the process as needed.