Introduction
In previous step a tuning in a frequency domain was performed, in this wizard you are going to make it in time domain. You will see how the bandwidth affects your system (control loop+plant) in real time.
Control widget
This widget has several subparts for this wizard:
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Buttons for Tuning and Fault Reset enabling.
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Velocity control loop parameters
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Filters
Further information about these registers, click on here.
Tuning
You can use this wizard to verify visually that the tuning is good.
In order to make a tuning in this wizard, click on the Enable button of the Tune in the Control widget.
You notice both charts start to show some information:
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Chart above shows the actual position (blue) and the demand (red).
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Chart below shows the velocity loop control command (green).
Notice the position set-point demand is set in the Signal Generator widget.
