Optimization Topic
Use the Optimization topic to improve the tuning and performance of your system. This topic and its
Enhanced Throughput Module Module
Optional Purchase Necessary: This feature is available only if you purchased the Enhanced Throughput Module (ETM) hardware.
HARDWARE: This feature does not apply when used with the GI4, the GL4, or the XL4s.
The Enhanced Throughput Module (ETM) lets you select the analog input channel that is used with this module. You can also specify the gain of the ETM and the maximum quantity of current that can be added to the current command.
For more information, see Enhanced Throughput Module (ETM). Also see the parameters that follow:
- EnhancedThroughputChannel Parameter
- EnhancedThroughputCurrentClamp Parameter
- EnhancedThroughputGain Parameter
Enhanced Tracking Control Module
The Enhanced Tracking Control module lets you enable Enhanced Tracking Control and configure the current command. You can also directly edit the enhanced tracking parameters.
For more information, see the parameters that follow:
Cross-Axis Feedforward Module
Optional Purchase Necessary: This feature is available only if you purchased the Dynamic Controls Toolbox option.
The Cross-Axis Feedforward module lets you set the parameters necessary to configure the Cross-Axis Feedforward algorithm.
Cross-Axis Feedforward is a controller-level algorithm that minimizes off-axis position errors by splitting the feedforward output generated by the feedforward gains between multiple motors on different axes. For more information about the algorithm and the parameters, see Cross-Axis Feedforward.
Command Shaping Module
Optional Purchase Necessary: This feature is available only if you purchased the Dynamic Controls Toolbox option.
The Command Shaping module lets you easily determine values for the Command Shaping coefficient parameters by configuring one or two command shapers. You can also manually adjust the calculated Command Shaping coefficient parameters. For more information about how to configure a set of command shapers, see Command Shaping.
How to apply calculated Command Shaping Coefficient parameters
- In the Configure workspace, select the Optimization topic. Then find the Command Shaping module.
- On the top-right of the module, click the View Coefficients link to see the coefficient parameters.
- Manually set the CommandShaper coefficient parameters that you want to use.
- If you want to recalculate the coefficients based on the set of configured shapers, do the steps that follow:
- Click the View Shapers link.
- Click the Sync button at the bottom of the module.
- To keep these parameter changes active after the next controller reset, you must save them to the controller. Click Save All on the left panel of the Configure workspace.
Harmonic Cancellation Module
Optional Purchase Necessary: This feature is available only if you purchased the Dynamic Controls Toolbox option.
HARDWARE: Harmonic Cancellation does not apply when used with the GI4, the GL4, the SI4, or the XL4s.
The Harmonic Cancellation module lets you set the parameters that are necessary to configure Harmonic Cancellation.
Harmonic Cancellation decreases the tracking error caused by sinusoidal reference commands, motor force ripple or other position-dependent disturbances, and cross-axis disturbances (which includes those created in a linear axis by an unbalanced rotational axis.)
For more information, see Harmonic Cancellation.
Enhanced Scanner Control Module
Optional Purchase Necessary: This feature is available only if you purchased the Enhanced Scanner Control (ESC) option on a GL4 with a PC-Based Automation1-iSMC version 2.7 or newer.
WARNING: Disable the axis before you make changes to these parameters.
The Enhanced Scanner Control module lets you implement a generic second-order digital filter. The default coefficients disable the filter and have no effect.
For more information, see Enhanced Scanner Control (ESC). Also see the parameters that follow:
