Lenze S94P01B2 - Manual (Page 59)

S94P01B2
57
Operation
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.
Further Increased Position P-Gain
Shows very good reduction to the maximum
error but with additional oscillations starting
to occur.
Step 2: Setting the Position D-Gain
Slowly increase the D-Gain while watching the position error waveform on oscilloscope
Channel 1. As the D-Gain is increased, the position error oscillation caused by the
P-Gain, should start to decrease. Continue to increase the D-Gain until oscillation is
gone or until D-Gain is no longer having any apparent effect.
Adjustment of Position D-Gain
in conjunction with the P-Gain dampens
out additional oscillations while improving
position error.
For optimum tuning, it is sometimes required to repeat the process of increasing the
P-Gain until a slight oscillation occurs and then increase the D-Gain to suppress that
oscillation. This procedure can be repeated until the increasing of D-Gain has negligible
effect on the position error waveform.