Centroid OAK, Installation Manual

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6.7 T
UNE THE
PID
To get to the PID screen in Figure 6.7.1, press F1 Setup → F3 Config. Password 137 , F4 PID → F1 PID Config.
•
If using precision mode (Yaskawa or Delta): Tuning is handled in the drive software, refer to the technical bulletin on
setting up those drives:
Yaskawa Sigma 5: TB 267 ( http://www.centroidcnc.com/dealersupport/tech_bulletins/uploads/267.pdf )
Delta ASDA-A2: TB 264 ( http://www.centroidcnc.com/dealersupport/tech_bulletins/uploads/264.pdf )
◦
PID values should be:
Kp =0 Ki =0 Kd =0 Limit =2560000 Kg =0 Kv1 =0 Ka =0 Accel. =0.500
◦
Ensure that parameter 256 is set to 2 .
◦
Ensure The Axis Encoder Counts in the Centroid software are the same as the ones used for tuning.
•
If using Velocity mode (Estun): follow TB 291, then follow the tuning guide in Tech Bulletin 234.
( http://www.centroidcnc.com/dealersupport/tech_bulletins/uploads/291.pdf )
( http://www.centroidcnc.com/dealersupport/tech_bulletins/uploads/234.pdf )
◦
Initial PID values for the axes should be:
Kp =0.04 Ki =0.0005 Kd =0.00 Limit =2560000 Kg =0 Kv1 =80 Ka =0 Accel. =0.500
◦
Ensure that parameter 256 is set to 1 .
Page 48 of 72 6.7 Tune the PID
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Figure 6.7.1
PID Configuration Screen