CS-Lab CSMIO/IP-A Manual page 88

After we start the function an axis will start to move both sides alternately, analyzing in the meantime the
position error and adjusting parameters. Small oscillations and vibrations are normal thing and we should
just wait till the function ends its work.
When the motion stops it means that tuning was finished. Now you can try axis work by moving it with
keys in the JOG group. AT the beginning we should set some small speed e.g. 5% and increase it gradually
to 100% watching at the same time if there are no vibrations and what is max. temporary position error
(„Max Error" in „Monitor" group).
In most of cases - if servo amplifier is tuned correctly - the autotuning function in CSMIO/IP-A motion
controller adjusts very good parameters and practically there is no need to tune it also manually. However
there are some specific machines where the autotuning function does not want to work correctly. It may
be e.g. when axes have very large inertia or if there is very large load asymmetry depending on motion
direction. In this case we should adjust PID controller parameters manually.
C S - L a b s . c . – C S M I O / I P - A - C N C c o n t r o l l e r Page 88