HEIDENHAIN ND 1300 CNC Setup - Manual (Page 34)

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PID loop tuning
PID loop tuning is an iterative process of adjusting a PID
control parameter and testing the resulting axis motion.
Some systems, such as low-mass, low-friction stepper
motor systems, are relatively easy to tune and require
only a few iterations. Other systems, such as large servo
motor systems, require many iterations that include the
adjustment of nearly every PID parameter. In either case,
changes should be made to only one parameter at a time,
in relatively small amounts, and the resulting change in
axis motion should be observed carefully.
When each axis has been tuned and tested separately,
multiple axes can be tested simultaneously and final ad-
justments made to the control parameters of individual
axes if required. Individual axes are adjusted and tested
using the CNC Setup screen. Multiple axes are tested
using the CNC test screen.
Test functions for a single axis Test functions for multiple axes
PID control parameters for a single axis
CNC Setup and PID Loop Tuning Guide