THOMSON Omnidrive Series Installation Manual page 133

9-8 Tuning
Tuning the Position Loop
Specify the step period and step position values, and then input a square wave to the position loop. Adjust
the gain controls parameters Kp, Kd, Kff, Ki, and Ki Zone Filters to tune the system.
Tune the velocity loop before attempting to tune the position loop. The band-
TIP
width of the velocity loop must be set before position loop tuning is attempted.
1. Disable the drive.
2. Choose Manual Tune (Position Step) from the tuning window.
3. Enter an appropriate Distance count (step position) for the internal square wave.
4. Enter an appropriate time to complete one cycle of the square wave for the internal step position.
5. Select the desired Motor Direction (BiDirectional, Forward Only or Reverse Only).
6. Select the Oscilloscope.
7. Enable the drive.
8. Choose Start. The motor will move and the oscilloscope will display the Position Motor Feed-
back signal.
9. Increase the Kp gain while monitoring the signal on the scope. The Kp gain should be adjusted
until the desired rise time is achieved, with no overshoot. Refer to Figure 9.3.
10. Increase Ki very slowly until the signal begins to overshoot.
11. Increase Kd very slowly to remove the overshoot caused by KI.
12. In general you may leave the Kff gain set to 100.
13. Choose Stop.
14. Disable the drive.
15. Choose Normal Drive Operation.
16. Choose Close.
17. Enable the drive.
The position loop has been tuned. The drive may be operated as a master encoder, step/direction or step
up/down configuration.
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