ADLINK PCI-8258 - Manual (Page 96)

82 Motion Control Theory
In case the auto regulation failed we may try to increase
Hysteresis range for better success rate at the expense of overall
system band. System band and phase margin can be measured
with the Bode plot provided by this control card. See later chapters
for detail.
Step 5: Start up the auto fine tuning procedure
Press the Start tuning bottom to begin the auto fine tuning
procedure and the motor starts vibrating. You may press the
Tuning stop bottom to interrupt the process in case any problem is
encountered in the tuning process.
Step 6: end of the auto fin tuning procedure
Once the auto fin tuning procedure is completed, you may find the
final values and their corresponding fluctuations of proportion,
integral and differential gains calculated by the said procedure in
the Result field. Ideally the smaller the fluctuation is the better the
final convergence will be. You may find out the best combination of
vibration amplitude and fluctuation by trial and error. Press the Set
final bottom to set PID control gain to the control card. Please note
the feedforward control gain and filter stop working after you do
this.
Step 7: PID controller performance test
To be on the safer side, please adjust PRA_ERR_POS_LEVEL to
lower level before testing the results derived from auto fine tuning
to prevent damages to the machine caused by position error.
• Why the auto fine tuning process stops
a The process is stopped as the Tuning stop bottom is
pressed by user.
b The limit signal (PEL/MEL), warning (ALM) or emer-
gency stop signal (EMG) is triggered.
c The position deviation amount exceed offset limit set-
tings. You may avoid this by set the limit to greater value.
d The program stops automatically in case the fluctuation
value (standard deviation) is greater than 10%. You may
increase the Hysteresis range for better success rate.