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Stepper motor, Linear motor, Motor driver, Linear actuator, Motor controller
Text version of the page
GETTING STARTED SYSTEM OVERVIEW
MAXv User’s Manual 2-13
Set the known values for velocity, acceleration and the move distance for a trapezoidal profile
with at least a 20% flat spot at peak velocity. Formula:
Profile distance = ((peak velocity) ^2/ (2×acceleration)) ×2.4
Example: ((50,000) ^2/ (2×500,000)) ×2.4 = 6,000
Execute the move by sending the move commands to the MAXv.
Example: MR6000;
GO;
Adjust the KP term while repeating step 3 until the “following error” at the flat spot of the profile
is acceptable. If the motor becomes unstable prior to obtaining the optimum KP term, then
increase the KD term until the motor stabilizes.
Example: LP0;
KP3;
CL1;
MR6000;
GO;
LP0;
KP10;
CL1;
MR6000;
GO;
LP0;
KP25;
CL1;
MR6000;
GO;
LP0;
KD100;
CL1;
LP0;
KP35;
CL1;
MR6000;
GO;
LP0;
KD125;
CL1;
The values in the above example are totally arbitrary and may vary
drastically with different systems. The LP0; command is used to set the
position error to 0.
The values for KP range from 0.00 to 32767.00.