Tuning Velocity Controller (Ziegler&Nichols)
AX5000 Tuning - Guide8
Version: 1.0
3.3 Determining the stability limit for Kp
To determine the stability limit, while the axis is active, Kp is increased in the velocity controller in small steps
until the axis starts to oscillate. Depending on the axis type and the environment in which the axis is
operated, it may be sufficient to determine the stability limit based on the noise generation. When Kp
reaches a critical value, many axes start "squeaking" audibly. In noisy environments and for axes for which
oscillation must be avoided, the TwinCAT "Scope View" oscilloscope should be used. The next chapter
describes the setup. If the oscilloscope is not used, you can skip the next chapter and continue reading at
"Starting the test movement [
}9]".
3.4 Setting up TwinCAT Scope View
Use the function:
• File → Add → New project
to add a "TwinCAT Measurement" project of type
"Scope YT NC Project".
Right-click on the chart to add two axes, so that a
total of three axes are available.
Notice!
If you have a sufficiently large monitor, right-click on
the chart again and select "Stacked Axes" for a better
overview.
The axes are then shown one below the other. Add
the "Torque feedback value" (S-0-0084), the velocity
command value and the actual velocity value
(P-0-0504 and S-0-0040) to the AX5000 process
data.
In the process image of the EtherCAT master activate
the ADS server and the symbol generation facility.
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