Lenze E94P PositionServo with MVOB - Manual (Page 86)

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Operation
6) Compensation Folder
Open the [Compensation] folder in MotionView.
Leave the Velocity P-Gain and Velocity I Gain unchanged, as they should already have been setup during
velocity tuning. Do not adjust the Gain Scaling Parameter during this procedure.
Set the [Position P-gain] to a low value (e.g. 100) and set the [Position I-Gain] and [Position D-Gain] to 0.
7) Gain Tuning
The system should now be ready to start tuning the position loop. Start the Oscilloscope by clicking [Run].
Apply the Enable input A3 to enable the drive.
The general goal in tuning the position loop is to achieve the minimum position error while maintaining
system stability. Some experimentation with gain values will be required to achieve the best performance
for the application.
Step 1: Setting the Position P-Gain
Slowly increase the Position P-Gain while watching the position error waveform on oscilloscope Channel 1.
It is important to watch both the Max Error as well as the Average Error. While increasing Position P-gain, it
should be apparent that both the Max Error as well as the Average Error decrease.
Position P-Gain set too LOW
Large Position Error occuring and large error
in final positioning achieved
Increased Position P-Gain
Shows improvement to the maximum error
and the final positioning accuracy
At some point while increasing the P-Gain, additional oscillations (Average Error) will start to appear on the
position error waveform.