Reference Guide

PMAC Quick Reference Guide
PMAC Executive Program, PEWIN 17
a. Make sure to read the PEWIN manual section related to the safety issues of this procedure.
b. Perform a DAC calibration if necessary.
c. Select the type of amplifier being tuned.
d. Let the Auto Tune select the bandwidth by checking Auto Select bandwidth.
e. Do not activate any feed forward parameters in this first pass.
f. Do not activate the integral action component in this first pass.
g. Start the first Auto Tuning interaction. Most likely the motor will move after Begin is clicked.
Second Interaction
h. The calculated bandwidth can 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 it is completed, 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 if
necessary.
3. Perform a step response and use the following guidelines for the selection of the appropriate I-
Variables:
Ideal Case
The motor closely follows the commanded position
Position Offset
Cause: friction or constant force / system limitation
Fix: Increase K
I
(Ix33) and maybe use more K
P
(Ix30)