6-28 TUNING THE CONTROL LOOPS
SB1391 Hardware and Setup Guide - Document revision no. 1.14
6.9.2. Adjusting the Dual Loop
♦ 1. Start to adjust the system with $CU = 2 or $Cu = 3 in single loop.
♦ 2. Set $CU bit 2 to 1 ($CU = 6 or $CU = 7) and go directly to position loop
adjustment.
♦ 3. Start with very low position gain factor (GF) and gain (GA): such that Fc
(position) ~= 1 Hz.
♦ 4. Example, to reach a position loop gain (
GF
GA 2× ) of 0.75 (i.e., 3/4): GA = 3 and
GF = -2.
♦ 5. Increase the GF and GA until a good result is achieved (as with a single loop). If
high frequency noise occurs, reduce the velocity gain D8.
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