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With the help of the auto-tuning function for drive axes, it is possible to automatically and optimally configure the drive controller for the ACOPOSmulti drive system (this includes the position controller and the underlying speed controller). The control parameters are detected while the machine is practically at a standstill. Parameters to compensate for the effects of inertia and friction are also determined.

Procedure

Before the actual auto-tuning process, a safe operation area is specified where the drive can move during automatic controller configuration. Then the fully automatic controller configuration is started with a mouse click. Within a short time, the auto­tuning function determines the optimal controller configuration for the mechanical system that is connected. The parameters for reference variable implementation are then calculated using a defined drive movement. This includes, for example, inertia as well as speed-proportional and static friction.

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