OMS MAXnet, User Manual

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GETTING STARTED SETTING THE USER DEFAULT CONFIGURATION
2-16 MAXnet User’s Manual
You may want to save the values for KP, KI, KD, etc., for future reference. These values can be
saved in the board’s flash memory, so they can be accessed easily on reset or power-up. This can
be done by using the APP command. These saved parameters will then be used as the power up
default set of values.
To verify that your motor is tuned properly after you have completed the first 10 steps perform the
following test to test the holding torque: Send the commands LP0;CL1; and check the shaft of the
motor to make sure it is stiff. If there is play in the motor shaft when you turn it then you may have to
re-adjust your PID filter.
Once you are satisfied with the static holding torque you could check for position error. Send the
command "AC100000;VL5000;MR64000;GO;". With a 2000 line encoder this move would be
equivalent to 8 revolutions of the motor. After the move is complete check the position error by
sending the RE and RP commands for the specific axis you are moving. Compare the difference in
the two responses. If they are the same then you are on the right track, if the error is greater than
32768, the controller will disable the PID so that you don’t have a runaway motor. In this case major
changes to the PID parameters may be required. For minor differences in the encoder and the
position reading you can fine-tune your PID filter according to the earlier steps.