Elmo HARmonica, Tuning Manual

Page: 8 / 40

8. In the first pane, you can see the Velocity and the Velocity command and in the
second, you can see the Current command. If the current command has reached
the peak current, reduce the velocity command and repeat the test, multiplying
KP by 2 .
If machine vibrations are dangerous, multiply KP by 1.5 each time,
instead of 2 .
9. Repeat step 8 until you reach one of the following:
The step response exhibits an overshoot of about 20%.
The step response is unacceptable;, for example, it shows resonant
oscillation.
The system exhibits a large overshoot and undershoot, a sign of being close
to instability. In this case, decrease
KP by at least a factor of 2.0.
4 Elmo HARmonica Tuning Guide
HARTG0903