Determining the stability limit for Kp

To determine the stability limit, while the axis is active, Kp is increased in the velocity controller in small steps until the axis starts to oscillate. Depending on the axis type and the environment in which the axis is operated, it may be sufficient to determine the stability limit based on the noise generation. When Kp reaches a critical value, many axes start "squeaking" audibly. In noisy environments and for axes for which oscillation must be avoided, the TwinCAT "Scope View" oscilloscope should be used. The next chapter describes the setup. If the oscilloscope is not used, you can skip the next chapter and continue reading at "Starting the test movement".