3.1.9.1.49 0x2011 Velocity controller
3.1.9.1.49.1 Velocity PID Tuning (objects 2011:1...2011:4)
IMPORTANT: These values are only used in velocity control mode (not in cascaded position control)
3.1.9.1.49.1.1 Controller Structure
τ_offset
τ_con
τ_ref
τ
3.1.9.1.49.1.2 PID Parameter Range
The constants K_p, K_i, and K_d should be between 0 and 10 with the precision of 6-digit floating point. To
find the proper values of PID constants of velocity controller the following steps are recommended:
3.1.9.1.49.1.3 Recommended Tuning Steps
Step 1. Check if all constants K_p, K_i, and K_d are set to 0. After that activate the velocity controller. By
default, the integral limit of velocity controller should be set to the maximum torque of selected motor in
[mNm].
Step 2. Set the reference velocity to 50% of rated motor velocity [rpm].
Step 3. Increase K_p until the measured speed is around 70% of the reference speed. As a suggestion start
with K_p equal to 0.1, and in each step increase K_p with a factor of 2.
Step 4. From this step forth, step response of the system should be checked. Increase K_i step by step to
increase the speed of velocity controller (as a suggestion start with K_i equal to 0.01 and in each step
increase it by a factor of 2). At this point, the parameters K_p and K_i of the velocity controller are tuned.
The parameter K_d of the velocity controller can be kept at its default value (0).
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Controller Kp
0x2011:1
REAL
32
0
65535
0
readwrite
The P-gain of the PID Velocity Control Loop [mNm/rpm].
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Controller Ki
0x2011:2
REAL
32
0
65535
0
readwrite
The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)]
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