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Text version of the page
GETTING STARTED TUNE THE SYSTEM
PCIx User’s Manual 2-13
The values for KD range from 0 to 249.99.
FIGURE 2-9
FIGURE 2-10
KP, KI, and KD are the primary parameters of concern when tuning a servo system. Once
the optimum values for these variables have been determined, then you can adjust some of
the secondary parameters that will help fine tune your system’s performance. These other
variables are described in the subsequent steps.
The KV variable is used when tuning velocity controlled servos (voltage mode servo
amplifiers.) This is the velocity feedforward coefficient. KV determines how closely the
system follows the desired constant velocity portion of the motion profile. By increasing this
term, the "Following Error" of the system’s response can be minimized. However, too large of
a value may result in unstable behavior after command velocity changes.
Desired Step Response
Too Little KD
Desired Step Response
Too Much KD