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TB260 Rev1 CNC11 Torque Mode Tuning
Purpose
    This document will describe how to set the PID settings for your DC Brushed motors and tune them using the scope display
on the PID Configration screen
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First Step VERY IMPORTANT!
    Before powering up your CNC11 control and tuning your servo motors you must first set the drive current on your Allin1DC  The drive
current is configured for each axis by dip switches located behind H? input bank on the Allin1DC Â To the right of the "Current Rating"
dip switches is a table which explains the positions of the switches for 6 9 12 and 15A Â If you have Centroid supplied motors see the
table below for the current rating of the motor you have and set the dip switches for each axes accordingly
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CNC11 Torque Mode Default PID Settings for Centroid DC Motors
DC Motor/Drive current Combination Kp Ki Kd Limit
Redcom 17" lb 9A 0 5 0 004 1 32000
Glentek 29" lb 12A 1 0 0 004 3 32000
Glentek 40" lb 15A 1 0 0 004 3 32000
Note
 The Limit is set to 32000 for 8000 count encoders  If you are using higher resolution encoders the general rule for calculating the
Limit is Encoder counts x 4 Â ex 10000 line count encoder would have 40000 counts multiply 40000 x 4 to get a Limit of 160000
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CNC11 Torque Mode Adjustment
Goal
 Get the error to +/ 10 15 counts at the beginning and end of the move and +/ 2 4 counts during the move
Procedure
1  Position all axes in the middle of their travel and set part zero  F1 Setup F1 Part F10 Set
sets X axis F1 Next Axis F10 Set
sets Y axis F1 Next Axis Â
and F10 Set
sets Z axis  Â
2 Â Go to the PID Configuration screen to do this press F1 Setup
F3 Config
PW 137
F4 PID
and then F1 PID Config
3 Â Press F1 Prog
to edit the program that will be used during tuning  Base program move the axis you are tuning 1 inch at 100ipm
save program
4 Â Press F2 Start Prog
to start tuning program then adjust Kp up  To adjust Kp highlight the Kp value and use the Pg UP/Pg Dn
keys
to adjust the value up and down
5 Â When move starts to oscillate move Kd up then continue to adjust Kp
6 Â Once Kp and Kd are set press F9 Save
to save the tuned Kp and Kd settings  Now set Kv1 to 10 and Ka to 20
7 Â Re start the program F2 Start Prog
and adjust Ka to reduce the error at the start and end of the move
Document History
Rev1 Created on 2012 04 24
by #240