Feedback system: Incremental encoder

Step 1: Optimization of the current controller

The current controller is often sufficiently well adjusted by the Scan Motor function.
If not, use conventional Ziegler/Nichols controller optimization methods.

Aim of current controller optimization: set the integral component as low as possible and set the proportional component as high as possible without achieving oscillating behavior.

Step 2: Optimization of the velocity controller

Requirement: the current controller is optimized.
1. Set the CoE parameter 8010:17 "Position loop proportional gain" to zero.
The position controller is disabled.
Interference of the position controller with the velocity controller is prevented.
2. Gradually reduce the integral component: parameter 8010:14 "Velocity loop integral time (current mode)".
At the same time, gradually increase the proportional component: parameter 8010:15 "Velocity loop proportional gain (current mode)".
While doing so, observe the actual velocity value.
Do not increase the proportional component any further if the actual velocity value begins to oscillate.
3. Reduce the integral and proportional components by 20%.
The 20% serves as a control reserve for abrupt movements.
The velocity controller is optimized.

Step 3: Optimization of the position controller

Requirement: the velocity controller is optimized.
1. Gradually increase the proportional component 8010:17 "Position loop proportional gain" until the controller starts to oscillate.
2. Reduce the proportional component by 20%.
The position controller is optimized.