T
UNING
D-19
T
u
n
in
g
C
lo
se
d
-L
o
o
p
S
te
p
p
er
s
S
te
p
3
: S
et
th
e
In
te
g
ra
l G
a
in
(
K
i)
Step 3: Set the Integral Gain (Ki)
Observing the static error at the end of a move
as the Integral Gain (Ki) term is increased
is
the best way to tune the Integral Gain. Using the two-point motion window, set the following
motion parameters:
Table D-12
Integral Gain (Ki) Values for Tuning Closed-Loop Steppers
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 (Ki) above this level, watch for oscillation
at the beginning
or end of the motion
. If oscillation occurs at the beginning or end of the motion, reduce the val-
ue of the Integral Gain (Ki).
Parameter
Value
Delay
2
Position 1
0
Position 2
20000
Velocity
10000
Acceleration
10000
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