CS-Lab CSMIO/IP-A Tuning Manual page 9

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4. Axis tuning
1) Increase "kVff" value as long as "Mkit Following Error" value decreases.
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Too high "kVff" value causes an axis set position to be overtaken, which results in a new increase in
the "Mkit Following Error" value. What is important, too high value of the "KVff" parameter doesn't
cause oscillation of an axis, so we can only notice it in "Mkit Following Error". Value progress
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Too low "kVff" value wastes the potential of a servo drive, which results in an unnecessarily high
value of "Mkit Following Error".
"KVff" is a value of velocity "feed forward" gain. In simple terms, the higher value of the "kVff" parameter,
the higher voltage value, proportional to "Mkit Ref Velocity" value (set velocity that an axis should get
when making a set move) will go directly to the +/-10V analog output of a CSMIO/IP-A controller.
"Feed forward" of velocity greatly supports the proportional term of the position PID regulator, and thus
the value of the "kP" may be much lower. It shortens axis reaction time and hence significantly reduces
the "Mkit Following Error" value. However, we should remember to set the "kVff" value when the "kP"
parameter has an initial value.
CS-Lab s.c. | CSMIO/IP-A 6-axis CNC controller. Manual tunning 9