SYNAPTICON SOMANET Circulo 7, Documentation

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3.1.3.5.5.1 Tuning gains (method 1)
The gains for PID tuning can be found in object 0x2009 :
Subitem 0x2009:4 defines K for method 1.
Subitem 0x2009:5 defines K for method 1.
Subitem 0x2009:6 defines K for method 1.
Note
As a rule of thumb, the following approach can be applied:
Start values of the gains:
K = 1
K = 1
K = 0
Increasing and decreasing K and K will have the same effect as increasing them in a simple PID
position controller.
If needed, the increase in K should be done in very small steps (such as changing from 0 to 0.001),
this will reduce the oscillations of the load.
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3.1.3.5.6 Parameters
0x2003 Motor Specific Settings
Details for your motor specification.
0x2009 Commutation offset
Subitem 0x2009:1 shows the state of the commutation offset.
Subitem 0x2009:2 defines the amount of torque that is applied during the offset detection process.
Subitem 0x2009:3 determines the method to be used for offset detection.
Subitem 0x2009:4 defines K for method 1.
Subitem 0x2009:5 defines K for method 1.
Subitem 0x2009:6 defines K for method 1.
0x6075 Motor Rated Current Determines what percent of rated motor currents should be injected into
the motor phases during the offset detection procedure.
0x6076 Motor Rated Torque
The rated torque of your Motor according to the data sheet.
0x6060 Modes of operation
Selects the mode of operation.
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