MAXp Specifications - Pro-Dex, Oregon Micro Systems - #19

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GETTING STARTED MANUAL TUNING MAXp User’s Manual 2-13 Desired Step Response Too Little KI knees of the motion profile. Increasing the KI term, increases the response time of your system. The motion profile should also have a steeper slope as KI increases. (See Figure 2-7 and 2-8 below.) However, as KI increases the system can also become unstable. When the instability becomes unacceptable increase the 2KD parameter. This will increase the dampening on the system’s motion profile (therefore reducing oscillation or “ringing”.) Continue adjusting the KI and 2KD terms until the proper response time is obtained. The values for KI range from 0.1 to 20. FIGURE 2-8 FIGURE 2-9 If you are getting too much “ringing” in the motion profile, then increase KD to help dampen the system’s response. If, instead, the system is over-damped and is reaching the final velocity too slowly, then reduce the KD parameter. Optimally, the system’s motion profile should show the motor reaching the desired velocity as quickly as possible without overshoot and oscillation (“ringing”). The values for KD range from 10-100. Desired Step Response Too Much KI