OMS MAXnet, User Manual

Page: 19 / 67

TUNE THE SYSTEM GETTING STARTED
MAXnet User’s Manual 2-13
CL1;
MR6000;
GO;
LP0;
KP25;
HN;
MR6000;
GO;
LP0;
KD100;
CL1;
LP0;
KP35;
CL1;
MR6000;
GO;
LP0;
KD125;
CL1;
The values in the above example are totally arbitrary and may vary drastically with different systems. The
LP0 command is used to set the position error to 0.
The values for KP range from 10-500.
Once the KP term has been obtained, continue executing the motion while rising the KI term until the
long-term “Following Error” is acceptable. This error can be measured at the two knees of the motion
profile. Increasing the KI term, increases the response time of your system. The motion profile
should also have a steeper slope as KI increases. (See Figure 2-9 and 2-10 below.)
However, as KI increases the system can also become unstable. When the instability becomes
unacceptable increase the
2
motion profile (therefore reducing oscillation or “ringing”.) Continue adjusting the KI and
2
The values for KI range from 0.1 to 20.
FIGURE 2-09
If you are getting too much “ringing” in the motion profile, then increase KD to help dampen the
system’s response. If, instead, the system is over-damped and is reaching the final velocity too
Desired Step Response
Too Little KI