Optimization of the position controller

The position controller is a P-controller.

Optimization of the proportional component Kv

The optimization of the proportional component is analogous to the optimization of the proportional component of the velocity controller.

1. Open the “Run motor” menu and select the “Position controller” tab under “Drive Parameters”
Optimization of the position controller 1:
2. Increase the Kv value step by step, meanwhile, watch the Scope View
At a certain value of Kv the motor starts to oscillate
3. Reduce Kv again until the motor no longer oscillates
4. Reduce Kv a bit more, depending on the application
The position controller is optimized.

Velocity pre-control

The velocity pre-control improves the control behavior especially during acceleration and braking.

It routes part of the position setpoint past the position controller and directly to the velocity controller.

1. Select the menu "Tune Drive"
2. Click on "Position Controller" in the controller structure
3. Set the parameter K in the "Feed forward velocity" field