Feedback system: Hall sensors only
Step 1: optimization of the velocity controller
- 1. Set the CoE parameter 0x8010:17 "Position loop proportional gain" to zero.
- The position controller is disabled.
- Interference of the position controller with the velocity controller is prevented.
- 2. Gradually decrease the integral component 0x8010:5A "Velocity loop integral time (voltage mode)".
At the same time, gradually increase the proportional component 0x8010:5B "Velocity loop proportional gain (voltage mode)".
Meanwhile, observe the actual velocity value and the following error "Position Lag". - From a certain point, the actual value of the velocity begins to oscillate or the following error increases.
- 3. Reduce the integral and proportional components by 20 %. The 20 % serves as a control reserve for abrupt movements.
- 4. If the actual velocity value overshoots, decrease 0x8010:5C "Velocity loop voltage feed forward gain (voltage mode)".
- The velocity controller is optimized.
Step 2: optimization of the position controller
- Prerequisite: the velocity controller is optimized.
- 1. Gradually increase the proportional component 0x8010:17 "Position loop proportional gain", so that the position difference oscillates around the value zero and the setpoint of the position is followed appropriately.
- The position controller is optimized.