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Figure 6-23: Drag a rectangle to zoom in the steady error
Kp=4200, ↑Ki=200
Kp=4200, ↑Ki=800
Kp=4200, ↑Ki=1500
Kp=4200, ↑Ki=2500
Figure 6-24: Current loop tuning with Kp=4200 and increasing Ki
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Velocity and Position Loop Tuning
Before trying to manage the velocity and position loop parameters (Vp, Vi, Kp, Kp,
Kaff, see page 25), connect the system as figure 6-19. Then set self-test motion
parameter and select the display curve in digital scope as figure 6-25, figure 26.
TraceTime affects the display length of the curve. Here we select 720ms.
Tel: (86)755-26434369
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Accel = 250 R/S
Length = 30000 pulses
Inernal = 80 ms
Repeat = 1
Figure 6-25: Self-test motion settings for the tuning
Figure 6-26: Digital Scope settings for the tuning
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