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Multi Axis Controller
5.4.6 Tuning Guidelines
The object of tuning is to tweak the various gains and motion parameters of a
positioner axis so that the resulting motion is optimized. A positioner is considered
"tuned" if its performance meets its specification requirements. Generally
speaking, some common signs that a positioner is tuned:
•
Visibly smooth motion.
•
Little to no audible noise produced during and after a commanded motion.
•
Little to zero position error after the completion of a commanded motion.
In order to properly tune a positioning system, you must follow several guidelines
and steps. There are three major steps in tuning a positioner axis.
•
Sensor Verification – The position sensors (synchro, encoder, inductosyn,
inclinometer) must operating correctly and must output the correct polarity in
order to begin.
•
Performance Criteria – You should first establish the tuning criteria or
performance goals of the positioner axis so that you will know when you have
achieved acceptable performance.
•
Tune The Positioner - The type of servo, performance requirements, and
other affecting factors will determine whether you use a PIV or PID algorithm
to tune the positioner.
Doc. No. MAL-4806-3C.doc
- 143 -
Rev: B
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