Re: [CAD_CAM_EDM_DRO] Re: How I tune Rutex servo drive KP, KI, KD

Hi Guys,

Don't forget the excellent tuning utility that you can download off
Rutex's website. All you need is a simple to make cable running from
your parallel port to the drive and it will give the drive/motor/load a
step response and then plot the step response on the PC's screen. You
will see the results of the changes in your PID settings each time you
plot the step response. It also give you the numerical values for P,I &
D so you can record them in your notebook in case you have to change out
a drive - all you do is set-up the new drive with the recorded values
and you're off to the races! It is worth the time to make the cable,
believe me.

Cheers, Peter

keith wrote:

>--- In CAD_CAM_EDM_DRO@yahoogroups.com, "irfan_younis"
><irfan_younis@y...> wrote:
>
>
>>Hello,
>>I have Rutex servo drive R990H and R991H, I am faceing some
>>
>>
>problems
>
>
>>to tuning these servo drives I have Rutex tuning software any body
>>can tell me how I can tune servo motors with these drives and how I
>>adjust KP, KI, KD.
>>Hope to read you soon.
>>
>>Regards,
>>
>>Irfan
>>
>>
>
>it's explained in the latest "RT990H.exe" from http://rutex.com/.
>rutex says "Do a preliminary test on the bench to familiarize
>yourself with the drive. For this test setup, start with lower Vm and
>use a current limiting power supply. Note that the drive must be
>mounted to a large heatsink. Pots:
>1. Adjust all three pots (Kp, Ki, Kd) fully CCW. Note, that these
>pots are multiturn with 20 turns and no
>stops. Adjust I lim pot fully CCW. This is a single turn pot with a
>stop.
>2. Connect motor, encoder and supplies to the R990H as per above
>drawing.
>3. Gently increase Kp and by hand move rotor of motor. Verify that
>the drive corrects the error. If the
>motor runs away, the polarity of the motor must be swapped or
>channels A and B from the encoder
>must be swapped.
>4. Increase the Kp until the system starts to oscillate. After that,
>increase the Kd to dampen the
>oscillations.
>5. The Kp, Kd and acceleration of the systems should be fine tuned
>without any Ki, with your
>application software. The Ki should be applied when system is nearly
>finished. Ki corrects the
>steady error. Too much of Ki causes oscillations. Always, when
>increasing Ki, the Kp and Kd
>should be increased as well.
>6. Adjust the I lim pot for required torque of the servo drive."
>
>there is more, e-mail them and they will send it to you. i am just
>beginning to wire my system up and would be interested to know how it
>went for you..
>regards,
>keith
>
>
>
>
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