CS-Lab CSMIO/IP-A Tuning Manual page 12

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If increasing the value of the "KVff" term will not cause a significant decrease in the value of "Mkit Follo-
wing Error", you should check again:
- correctness of velocity and current PID loop tuning in a servo drive
- settings of set and real velocity filters of a servo drive.
Too strong velocity filters and too softly tuned velocity and current PID regulators delay a servo drive re-
sponse, which translates into a significant increase of the "Mkit Following Error" value.
Older generation servo drives may react slightly worse to increasing the "KVff" parameter value due to their
originally low sensitivity or highly worn magnets.
2) Increase the "kP" value as long as the "Mkit Following Error" value will be willing to decrease, and no
dull knocking or axis oscillations will be noticeable. In other words, you should stop increasing the "kP"
value when the difference between several consecutive values of "Mkit Following Error" will give a sim-
ilar result. The condition is to increase the "kP" value in equal steps.
•
A too high value of the "kP" causes a too strong reaction of the PID regulator's proportional term
on the "Mkit Following Error" value, which results in the mentioned dull knocking and axis oscilla-
tions.
•
A too low value of the "kP" causes a too weak reaction of the PID regulator's proportional term on
the "Mkit Following Error" value, which results in an unnecessarily high "Mkit Following Error"
value.
The "kP" parameter is a value of proportional term gain of the position PID regulator. In simplification, the
higher "kP" and "Mkit Following Error" value, the higher voltage value will go to the +/-10V analog output
of CSMIO/IP-A controller.
CS-Lab s.c. | CSMIO/IP-A 6-axis CNC controller. Manual tunning 12