Feedback system: Hall sensors only
Step 1: Optimization of the velocity controller
- 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 8010:5A "Velocity loop integral time (voltage mode)".
At the same time, gradually increase the proportional component 8010:5B "Velocity loop proportional gain (voltage mode)".
While doing so, observe the actual value of the velocity and the actual value and the setpoint of the position. - From a certain point, the actual value of the velocity begins to oscillate or the difference between the actual value and the setpoint of the position increases.
- 3. Reduce the integral and proportional components by 20%. The 20% serves as a control reserve for abrupt movements.
- 4. If the actual value of the velocity overshoots, reduce 8010:5C "Velocity loop voltage feed forward gain (voltage mode)".
- The velocity controller is optimized.
Step 2: Optimization of the position controller
- Requirement: The velocity controller is optimized.
- 1. Gradually increase the proportional component 8010:17 "Position loop proportional gain" so that the position difference oscillates around the value zero and the setpoint specification of the position is followed appropriately.
- The position controller is optimized.