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6
525 Programmable Motion Controller
Figure 8 System Calibration (Position Loop Gain)
Refer to the appropriate section of this manual for instructions. Enter the desired
index to run followed by a carriage return. Depress the space bar to begin the index.
Observe the motion of the motor and the load particularly at the beginning and end
of the motion.
If the motion is crisp (ie stops abruptly with little or no over shoot and not spongy),
the "Position Loop Gain" is probably acceptable. If the motion is not acceptable
increase the value slightly and observe the motion.
If the motor begins to oscillate, "Position Loop Gain" is too high and must be
reduced. If the loop gain is left set too high, the oscillation could cause damage to
the external drive or the load. To change "Position Loop Gain", enter the proper
number followed by a carriage return. This may be set while the index is in motion.
In certain applications where a significant inertial mismatch exists, modifications
to the external drive may be necessary to match the drive to the load. When the
Position Loop Gain adjustment is complete, depress the space bar to stop motion. A
carriage return continues to the next section "Position Loop Gain Adjustment
Range".
The "Position Loop Gain Adjustment Range" allows you to program the amount of
"Position Loop Gain" that the "Loop Gain UP/DOWN" toggle switch has on the
"Loop Gain" setting. The purpose of the switch is to allow small adjustments to the
"Position Loop Gain" without the need of a computer or dumb terminal. The default
setting for "Position Loop Gain Range" is 100%. This means that the "UP/DOWN"
toggle switch can alter the "Position Loop Gain" through the full adjustment range.
Setting the value to 50% limits the adjustment to +/- 50% of the complete range.
Setting the value to 0% will not allow the "UP/DOWN" toggle to have any effect on
"Position Loop Gain". To set the value, enter the desired number followed by a
carriage return. See figure 43.