Commissioning and Tuning Guide¶

SOMANET OBLAC Drives guides the user through the setup process, supports configuration and tuning of the SOMANET servo drive and makes the operation and first steps in turning a motor as easy as possible.

OBLAC Drives Setup: There are two ways to run SOMANET OBLAC Drives
- OBLAC Drives Box: is a physical machine that comes preinstalled with Linux OS and runs OBLAC Drives.
- OBLAC Drives Virtual Machine: comes preinstalled with OBLAC Drives. It can be run on Windows, Linux and macOS.
Using OBLAC Drives: Overview of the functionality.
Set up your servo drive: Instructions on how to install firmware and configure your motor, brake and sensors.
Motion control tuning: Instructions on how to do manual and automatic tuning of the controller gains.
- Autotuning: Overview of the Autotuning feature
  System Identification: This feature allows to generate a precise model of the mechanical system with one click
  
  Position Autotuning: Automatically generates gain values for the cascaded position controller
  
  Velocity Autotuning: Automatically generates gain values for the velocity controller
- Manual Tuning: Description of steps required for manually tuning the controller gains
  Manual Tuning of torque/current control loop: In the torque control loop the current is controlled, while the torque is directly proportional to the current.
  
  Manual Tuning of the velocity control loop: Instructions for manually tuning the proportional and integral gains of the velocity control loop if the drive should be operated in velocity control mode.
  
  Manual Tuning of the position control loop: Instructions for manually tuning the cascaded PID controller.
Test your drive at the playground: Rotate your motor to a target position, at a target velocity or apply a target torque.
Update or downgrade OBLAC Drives: Install and run any version of OBLAC Drives that fits your drive.
Troubleshooting: If something goes wrong while using OBLAC Drives you can find troubleshooting instructions here.