quickly without any offset. Observing the WOW value until it gets to a stable <
0.1 or less is a good indicator. In the example below that’s after about 13 seconds.
10.
Make a note of your Kp, Ki and Kd values. Set Os% to 5 and click Send. Next use
the Auto Zoom feature and observe the running state.
11.
For fine tuning, adjust Kp, Ki and Kd values by small amounts to achieve the
fastest response, with minimal overshoot and correction. Monitoring fluctuations
in the WOW value on the serial monitor is a good indicator. Go back to your
recorded values if you worsen the performance and start again with fine tuning.
12.
Check the response changing from 33.3 to 45 rpm is similar to the time from start
up to 33.3 rpm. Use the speed selector and click Send. The elapsed time (s) will
reset. 50Hz motors must be brought up to 67.5Hz gently so they do not stall.
(60Hz motors run faster).
