User`s manual

2.0 - PMAC Executive program, PEWIN

Page - 17

h) The calculated bandwidth could be increased up to three times. Uncheck the “Auto Select bandwidth” this time.

i) Add the feed forward parameters as necessary.

j) Add the integral actions function as necessary.

k) Perform the second pass of the Auto Tuning. After completed remember to select “Implement Now” to activate the

selected parameters.

2) After the Auto Tuning is completed the PID parameters can be changed for a final fine tuning approach if necessary.

3) Perform a step response and use the following guidelines for the selection of the appropriate I-variables:

Second Interaction

Ideal Case

The motor closely follows the commanded

position

Sluggish Response

Cause: Too much damping or too little proportional gain

Fix: Increase K

(Ix30) or decrease K

(Ix31)

Position Offset

Cause: friction or constant force / system limitation

Fix: Increase K

(Ix33) and maybe use more K

(Ix30)

Overshoot and Oscillation

Cause: Too little damping or too much proportional gain

Fix: Decrease K

(Ix30) or increase K

(Ix31)