Appendix A – Tuning
4 3
Tuning Process Flow Diagram
(using proportional and velocity gains)
OR
Increase
SGP
UNTIL
OR
Decrease
SGV
UNTIL
Increase
SGV
UNTIL
OR
OR
Decrease
SGV
UNTIL
OR
Decrease
SGP
UNTIL
OR
Decrease
SGV
UNTIL
Increase
SGV
UNTIL
START
STOP
Step 6
Use the Velocity Feedforward Gain (
S G V F
) to
reduce position error at constant speed.
a. Execute a continuous (
MC1
command) move, setting
the acceleration, deceleration and velocity values
appropriate to your application. Set the
SGVF
value to
be the product of
SGP
*
SGV
(if
SGV
= zero, set
SGVF
equal to
SGP
).
b. Check the position error at constant velocity by
issuing the
TPER
command.
c. Increase
SGVF
to reduce the position error (repeat steps
a and b as necessary).
Step 7
Use the Acceleration Feedforward Gain (
S G A F
)
to reduce position error during acceleration.
a. Execute a continuous (
MC1
command) move, setting
the acceleration, deceleration and velocity values
appropriate to your application. Set
SGAF
to 0.01
(
SGAF¯.¯1
).
b. Check the position error during acceleration by issuing
the
TPER
command.
c. Increase
SGAF
to reduce the position error (repeat steps
a and b as necessary).
