Renishaw SPA1 Manuel utilisateur
SPA1 servo tuning guide
Installation guide
H-1000-5227-06-B
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All brand names and product names used in this document are trade names,
service marks, trademarks, or registered trademarks of their respective owners.
Renishaw part no: H-1000-5227-06-B
Issued: 12 2006
SPA1 servo power amplifier
tuning guide
2Care of equipment
Care of equipment
Renishaw probes and associated systems are precision tools used for obtaining precise measurements
and must therefore be treated with care.
Changes to Renishaw products
Renishaw reserves the right to improve, change or modify its hardware or software without incurring any
obligations to make changes to Renishaw equipment previously sold.
Warranty
Renishaw plc warrants its equipment for a limited period (as set out in our Standard Terms and Conditions
of Sale) provided that it is installed exactly as defined in associated Renishaw documentation.
Prior consent must be obtained from Renishaw if non-Renishaw equipment (e.g. interfaces and/or cabling)
is to be used or substituted. Failure to comply with this will invalidate the Renishaw warranty.
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Trademarks
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All trademarks and tradenames are acknowledged.
References and associated documents
It is recommended that the following documentation is referenced to when installing the UCC.
Renishaw documents
Documentation supplied on Renishaw UCC software CD.
Document number Title
H-1000-5057 UCC controller programmer’s guide
H-1000-5058 UCC Renicis user’s guide
H-1000-5223 UCC2installation guide
H-1000-5068 SPA1 installation guide
Contents 3
Contents
1Introduction..........................................................................................................................................5
2SPA1 commissioning sequence ..........................................................................................................6
2.1 Initial machine ini file creation ..............................................................................................6
2.1.1 Common parameters ............................................................................................6
2.1.2 Machine and move configuration..........................................................................8
2.2 Renicis sequence.................................................................................................................9
2.2.1 Initial steps............................................................................................................9
2.2.2 Close position loop .............................................................................................10
2.2.3 Set offset PA controls .........................................................................................11
2.2.4 Calc servo gain ...................................................................................................12
2.2.5 Velocity loop tuning.............................................................................................13
2.2.6 Adjustment of proportional and integral gains ....................................................14
2.3 Renicis position loop tuning ...............................................................................................15
2.3.1 Setting the uncompensated gain ........................................................................15
2.3.2 Applying acceleration feedback ..........................................................................17
2.4 Servo tuning test ................................................................................................................19
2.4.1 Servo tuning objectives.......................................................................................21
2.4.2 Applying velocity feed-forward............................................................................22
2.4.3 Scanning tuning procedure.................................................................................23
3Rotary table tuning procedure ...........................................................................................................24
3.1 Overview ............................................................................................................................24
3.1.1 Initial settings ......................................................................................................24
3.2 Tuning ................................................................................................................................25
3.2.1 Velocity loop tuning.............................................................................................25
3.2.2 Position loop tuning ............................................................................................26
4Definitions..........................................................................................................................................27
4.1 Uncompensated gain .........................................................................................................27
4.2 Acceleration feedback........................................................................................................27
4.3 Dynamic integrator .............................................................................................................27
4.4 Velocity feed-forward .........................................................................................................27
4.5 I2t Time ...............................................................................................................................28
4.6 IET Time.............................................................................................................................28
4.7 Overshoot (per axis)...........................................................................................................28
4.8 Following error (per axis, already existing) ........................................................................28
4.9 Steady state error (per axis)...............................................................................................28
4.10 Settling time (per axis) .......................................................................................................28
4.11 Tunnelling error (for the 3D move) .....................................................................................28
4Contents
5Glossary of terms.............................................................................................................................. 29
6Revision history ................................................................................................................................ 30
6.1 What’s new in release 01-A............................................................................................... 30
6.2 What’s new in release 02-A............................................................................................... 30
6.3 What’s new in release 03-A............................................................................................... 30
6.4 What’s new in release 04-A............................................................................................... 30
6.5 What’s new in release 05-A............................................................................................... 30
6.6 What’s new in release 05-B............................................................................................... 30
6.7 What’s new in release 06-A............................................................................................... 30
6.8 What’s new in release 06-B............................................................................................... 30
Introduction 5
1 Introduction
The object of this UCC servo tuning user’s guide is to provide a user-friendly publication to assist in the
task of setting up the servo response of the CMM. When used in conjunction with our “RENICIS”
installation / fault finding software, this document should enable a competent technician to set up a CMM
either at the assembly plant or on-site.
The UCC controllers have a powerful range of control elements to assist with tuning (attaining the required
performance) the CMM system, including; gain control, lead and lag filters, dynamic integrator,
acceleration feedback and velocity feed-forward.
The theories behind optimal tuning of control system are lengthy and complex, so we have tried in this
issue to automate the set-up steps that deal with servo-optimisation. A set of performance indices are
made available to enable checking of the machine tuning at all times. A report that records all these can
be generated.
6 SPA1 commissioning sequence
2 SPA1 commissioning sequence
The following section outlines the recommended procedure to commission the SPA1 or analogue based
3rd party servo power amplifiers.
This procedure assumes that the system being installed is a new installation and little information is known
about the machine’s servo system characteristics.
2.1 Initial machine ini file creation
Using Renicis create a new machine ini file, the following critical parameters must be correctly specified
for the initial installation process.
NOTE: Most of the default parameters specified in the machine configuration file can remain as default.
2.1.1 Common parameters
MachineDescription section
Make This should be the make of machine
Model This should be the model of the machine
Miscellaneous section
LogFilePath This should be a valid file path
MachineConfiguration section
ProbeHeadType Probe head type fitted to the machine
XscaleIncrement Resolution of the X axis scale in mm
YscaleIncrement Resolution of the Y axis scale in mm
ZscaleIncrement Resolution of the Z axis scale in mm
Xtravel Distance of machine X axis travel in mm
Ytravel Distance of machine Y axis travel in mm
Ztravel Distance of machine Z axis travel in mm
MoveConfiguration section
* MaximumMoveSpeed Maximum move speed of the CMM in mm/s
MaximumMoveAcceleration Maximum move acceleration of the CMM in
mm/s/s
* See section 0 for an explanation of this parameter and its importance.
TORQUEMODE (if used)
ControlMode Torque mode is enabled or not
SPA1 commissioning sequence 7
MachineIOLogic
AmpifierOK Logic level active high or low
CMMdeclutch Logic level active high or low
ESTOPtripped Logic level active high or low
AirPressureLow Logic level active high or low
ZaxisCrash Logic level active high or low
MotorsEngaged Logic level active high or low
OuterLimitXPositive Logic level active high or low
OuterLimitXNegative Logic level active high or low
OuterLimitYPositive Logic level active high or low
OuterLimitYNegative Logic level active high or low
OuterLimitZPositive Logic level active high or low
OuterLimitZNegative Logic level active high or low
InnerLimitXPositive Logic level active high or low
InnerLimitXNegative Logic level active high or low
InnerLimitYPositive Logic level active high or low
InnerLimitYNegative Logic level active high or low
InnerLimitZPositive Logic level active high or low
InnerLimitZNegative Logic level active high or low
OuterLimitY2Positive Logic level active high or low
OuterLimitY2Negative Logic level active high or low
InnerLimitY2Positive Logic level active high or low
InnerLimitY2Negative Logic level active high or low
DUALY section (if fitted)
DualAxisScaleIncrement Resolution of the dual axis scale in mm
WhichAxisDual Which axis is the dual axis
DualDriveEnable Is the dual drive switched on
ScaleInputLocation UCC input location address
DriveOutputLocation UCC output location address
RotaryTable (if fitted)
MeasurementUnits Units of increment for the rotary table
WscaleIncrement Resolution of the W axis scale
WmaximumMoveSpeed Maximum move speed of the rotary table
WmaximumMoveAcceleration Maximum move acceleration of the rotary table
SPAX
ChannelNumber = 0
SPAType = SPA1
SPAY
ChannelNumber = 1
SPAType = SPA1
SPAZ
ChannelNumber = 2
SPAType = SPA1
8 SPA1 commissioning sequence
2.1.2 Machine and move configuration
This is a very important part of the machine set-up where all the physical and motion properties are
defined.
CAUTION: Particular care is needed in specifying the maximum move speed and acceleration
since this defines the velocity gain of the remainder of the CMM servo system (the motors, the
tacho-generators (if fitted) and the drive gearing).
The “MaximumMoveSpeed” is a theoretical speed which corresponds to a maximum demand being
applied to the servo power amplifier. To control a specified speed, we apply a margin about that speed to
effect control. This is set to 20%. This means that the actual maximum move speed is 80% of the
“MaximumMoveSpeed” specified in the machine configuration file i.e. if you set “MaximumMoveSpeed” to
500 mm/s the maximum move speed you can request is 400 mm/s.
If maximum move speed is altered after the CMM has been commissioned (with no change in the CMM
hardware), two problems will become apparent: -
Problem 1
All machine speeds can be altered. e.g. if the maximum move speed value is halved, this implies that the
full 10 V motor command will now produce only half the previous speed. The controller will therefore
compensate by sending speed commands to the motors, which are twice the original values to get the
same target machine speeds. This will result in much faster moves than intended, with probably “over-
speed” and “overdriven” faults being produced.
NOTE: The machine speed in a command (move or scan) is limited to only 80% of the maximum move
speed to ensure servo control at all times.
Problem 2
If the machine’s performance characteristics change then some of the settings will become invalid. The
machine will need to be re-tuned.
!
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