CNC Motion Setup/Testing Utility
P/N 70000510B
26
All rights reserved. Subject to change without notice.
31-January-05
The best approach to fine-tune these gains is to auto-tune the PID filter
for the Z-axis with only derivative gain (Kd). After the test is done, save
these values in the rigid tapping gain table. With the help of the rigid
tapping test, start increasing Kf and/or Kp in the test until the Z-axis lag is
zero or very close to zero. Save the results with the “save” soft key after
this is done.
The following graphics display two possible results:
•
Refer to
Figure 13
. Axes optimally tuned reported a retract lag of 51
microns.
0
1
2
3
4
5
6
7
8
9
-30
-20
-10
0
10
20
30
40
50
60
seconds
mi
cr
on
s
Figure 13, Axes Optimally Tuned Screen
•
Refer to
Figure 14
. Z-axis without being optimally tuned (default
gains). Reported retract lag was 79 microns and threading lag of 12
microns.
0
1
2
3
4
5
6
7
8
9
-40
-20
0
20
40
60
80
seconds
mi
cr
on
s
Figure 14, Z-axis Not Optimally Tuned Screen
