In most of cases at this stage of the tuning the procedure is finished but for new machines or
machines that were not used for a long time probably you will have to tune current and position
controller once again when mechanics is livened up and run in.
In case an axis has a tendency to go into vibrations you can try to suppress them by increasing K
d
gain of velocity controller. If it didn’t help you can try to decrease the K
p
of position controller by
10% and K
p
and K
i
of velocity controller as well.
To keep the changes saved after power supply is off – press icon on a toolbar after you done the
changes or select “Save to flash” from “Configuration” menu.
Remember to approve the values you type n by pressing „Enter”.
It is worth to watch “Max following error” parameter during tuning in a parameter monitor window
( ). After we finish the tuning we can set max allowed following position error in a PID tuning
window approximately on a four-fold value of measured max following error so if “Max following
error = 23” in a parameter monitor window,
then we set „Max following error” parameter in a PID
tuning window – to 100.
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simDrive™ - AC Servo Drive User Guide
