maxon motor
EPOS Positioning Controller
EPOS 24/5 Getting Started
6.5.5
Manual Tuning
If the auto-tuning shows an error or the result of the auto-tuning is not
sufficient, you have to tune the appropriate regulator manually. You have to
start an iterative search of the regulation gains. Change the system
parameters manually, start a single step movement and check the
recorded data.
Follow the next instructions:
a)
Choose the ‘Manual Tuning’ mode in the regulation tuning screen
and start the tuning.
Figure 45: Manual tuning mode
b)
Go to the ‘Next Evaluation Setting’ and change the regulation
gains of the appropriate regulator.
Figure 46: Manual tuning mode
Hints:
Start values for current and velocity regulator are normally not difficult to
find.
For positioning regulator, following rule of thumb will be helpful:
Start values:
‘Integral Gain’ = 0 ‘Proportional Gain’ = 2 x ‘Differential
Gain’
Overshoot:
Reduce the ‘Proportional Gain’ or increase the ‘Differential
Gain’.
Position Error:
Increase the ‘Proportional Gain’ and the ‘Differential Gain’.
Integral Gain:
Adjust the ‘Integral Gain’ at the end, if the other two gains
are optimized. Increase the ‘Integral Gain’ until the static
position error is small enough.
c) Start a new movement and judge the recorded data.
Figure 47: Next tuning step
d) Repeat this iteration until all regulation gains are optimized.
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maxon motor control
December 2008 Edition / document number 573050-07 / subject to change
