Set control parameters for position control

Start test movement

The MC3 FluidPower axis was moved during manual operation;
see Move the axis in manual operation using Motion UI.

1. Double-click the Axis object

2. Opening the Motion UI tab

3. Apply power to the axis by clicking Enable All

4. In the Default Movements card, set the reverse operation parameters to match your motion profile.

5. Start of the movement
Set control parameters for position control 1:

6. Double-click the Position Controller object

7. Open the Init Parameter tab

8. Optimization of Control Parameters (see also Init Parameter)
Set control parameters for position control 2:

If necessary, increase any previously set limits on the control signal Minimum/Maximum Output to values permitted for the hydraulic system.
Set Integral Gain and Derivative Gain to 0.0
Increase the Proportional Gain until the output signal begins to oscillate
Slight reduction of the Proportional Gain
If necessary, adjust the Feed Forward Factor to bring the actual velocity closer to the target velocity
Set Integral Gain to reduce the residual error at the target position
Limiting the velocity windows: Integrator Threshold, Minimum/Maximum Velocity of the I-component to prevent over-integration during motion and the resulting overshoot.
Limiting the Integrator Lag Window Minimum / Maximum of the I-component to prevent residual oscillation at the target position.
The recommended value for the Integrator Lag Window Minimum is 4 times the resolution of the position measurement system.
The Integrator Lag Window Maximum is related to the residual position lag in pure P-control.

The next step is the integration of the FluidPower axis with the PLC;
see Link axis objects to a PLC