6 Startup
66
Version: 1.2.1
MS249E
C-863.12 Mercury Controller
By clicking the corresponding arrow keys for the axis in the main window of
PIMikroMove for example, it is possible to initiate motion over a particular distance
(specification in
Step size
column) or to the limits of the travel range.
[1] Arrow keys for motion; main window of
PIMikroMove
6.6
Optimizing the Servo Control Parameters
Adjusting the PID controller optimizes the dynamic properties of the system (overshoot and
settling time). The optimum P-I-D controller settings depend on your application and your
requirements.
As a rule, optimization occurs empirically and involves the following parameters. For details, see
"Servo Algorithm and Other Control Value Corrections" (p. 21):
▪
P Term
(0x411)
▪
I Term
(0x412)
▪
D Term
(0x413)
▪
I-Limit
(0x414)
Various values are used in closed-loop operation and the behavior of the positioner is
monitored.
PIMikroMove is used in the following for optimizing the servo control parameters.
Requirement
✓
You have installed the positioner in the same way as it will be used in your application
(corresponding load, orientation, and mounting).
✓
You have started initial motion (p. 62) with PIMikroMove.
✓
All devices are still ready for operation.