S94P01C -e1
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15. Observe that current, Iq, waveform. Check to make sure that there isn’t any
significant oscillation at the flat portion of the waveform. If so then decrease
the P-gain to a level where the oscillation either disappears or is very small.
(See pictures in section 9.2).
16.
Trying to minimize the position error during the steady state of the move is
where the I-gain comes into play. The same is true for holding the position
accuracy. Increasing the I-gain will increase the drive’s reaction time while
the I-Limit will set the maximum influence that the I-Gain will have on to
the loop. When adjusting the I-gain start with a very small value for both
the I-gain and the I-Limit then increase the I-gain until stand-still reaction is
compensated. Remember that large values of Position I-limit can cause large
instability and unsettled oscillation of the mechanism.
Note
Remember that these are only initial settings for your system. Your ap-
plication will likely require fine-tuning. To optimize settings you will need
to experiment with combinations of all gains P, I and D and the I-limit.
9 Sample Motor Responses to Gain Settings
9.1 Motor Response to Gain Settings (velocity mode)
Initial settings:
S934
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