ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started - Manual (Page 73)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
73
0.1 0.12 0.14 0.16 0.18 0.2
-1.5
-0.8
-0.1
0.6
1.3
2
x 10
4
C
ount
s
/s
e
c
.
Tim e (sec.)
KI=150,KP =50
KI=120,KP =40
Reference
0.1 0.12 0.14 0.16 0.18 0.2
-1
-0.4
0.2
0.8
1.4
2
Am
p
e
re
Tim e (sec.)
KI=150,KP =50
KI=120,KP =40
Figure 65: Tests for finding the maximum KP for KI/KP=3. KP=40 is acceptable, while
KP=50 is too large
0.1 0.12 0.14 0.16 0.18 0.2
-1.5
-0.7
0.1
0.9
1.7
2.5
x 10
4
C
ount
s
/s
e
c
.
Tim e (sec.)
KI=10000
KI=7000
KI=5000
KI=3000
Reference
0.1 0.12 0.14 0.16 0.18 0.2
-0.5
0
0.5
1
1.5
2
Am
p
e
re
Tim e (sec.)
KI=10000
KI=7000
KI=5000
KI=3000
Figure 66: Test results for searching for the maximum KI. The candidate for KI is KI=5000,
where the overshoot is about 20%