T
UNING
D-17
T
u
n
in
g
C
lo
se
d
-L
o
o
p
S
er
v
o
s
S
te
p
5
: S
et
V
el
o
ci
ty
a
n
d
A
cc
el
er
a
tio
n
F
ee
d
-F
o
rw
a
rd
Table D-11
Integral Gain (Ki) Values for Tuning Closed-Loop Servos
Start the motion and observe the position error between moves. Gradually increase the Integral
Gain (Ki) until the final position error is minimized. As you increase the Integral Gain above
this level, watch for oscillation at the beginning or end of the motion. If oscillation at the be-
ginning or end of the motion occurs, reduce the value of the Integral Gain.
Step 5: Set Velocity and Acceleration Feed-Forward
Using the fields in the
Movement
and
Motion Parameters
controls, specify a move that takes 5
to 10 seconds using the highest desired speed and acceleration.
Notice the position error during the
constant speed
portion of the motion. Increase the Velocity
Feed-Forward (Kv) until the
constant velocity error
is minimized.
Use the same process to adjust the Acceleration Feed-Forward (Ka), watching the acceleration
error during the acceleration and deceleration portions of the motion (look quickly if the accel-
eration time is short). Increase the Acceleration Feed-Forward until the
constant acceleration
error
is minimized.
Parameter
Value
Delay
2
Position 1
0
Position 2
20000
Velocity
10000
Acceleration
10000
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