Points To Remember - Newport ESP6000 User Manual

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Remember that any finite value for Ki will eventually reduce the error at
stop. It is simply a matter of how much time is acceptable for the applica-
tion. In most cases it is preferable to wait a few extra milliseconds to get
to the stop in position rather than have overshoot or run the risk of
oscillations.
Following Error During Motion
This is caused by a Ki value that is too low. Follow the procedures in the
previous paragraph, keeping in mind that it is desirable to increase the
integral gain factor as little as possible.

7.2.4 Points To Remember

– Use the Windows-based "ESP_tune.exe" utility to change PID param-
eters and to visualize the effect. Compare the results and parameters
used with the previous iteration.
– The ESP6000 controller uses a servo loop based on the PID with velocity
and acceleration feed-forward algorithm.
– Use the lowest acceleration the application can tolerate. Lower accel-
eration generates less overshoot.
– Use the default values provided with the system for all standard motion
devices as a starting point.
– Use the minimum value for Ki that gives acceptable performance. The
integral gain factor can cause overshoot and oscillations.