L_CT1P: Auto-tuning function continues to run endlessly when the position controller is limited (corrected from V03.26.00)
Corrected from:
Library: L_CT1P_ControlToolbox (FAST Motion) from V03.26.00
(Update via Package Manager)
Response of the new version:
When executing the auto-tuning function, it is now checked during processing whether the limitation of the position controller output signal takes effect.
If a limitation is in effect during the run, the auto-tuning function is now aborted with an error message, because under these conditions the determined controller settings cannot meet the expectations.
What happens?
Auto-tuning:
The auto-tuning function continues the optimisation step for the position controller gain endlessly under certain conditions.
Background:
If a limitation of the position controller output signal occurs during optimisation, a further increase of the position controller gain no longer has any effect on the control behaviour.
The limitation is effective when the product of "current tracking error" (0x5xxx:057) and "current gain" (0x5xxx:093) is reached.
When does the behaviour occur?
Position control in the controller active (0x5xxx:090 = [1])
Position controller limitation set to a reduced value (0x5xxx:094).
Basically, it only makes sense to limit the output signal of the controller in a control loop under special conditions.
A prerequisite for the optimisation procedure of the auto-tuning function is that no limitation of the signal is effective in the control loop.
--> The limitation of the position controller (parameter 0x5xxx:094) should therefore remain set to the factory setting during the execution of the auto-tuning function.
