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Delta Tau PMAC VME User Manual

Delta Tau PMAC VME
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PMAC Quick Reference Guide
18 PMAC Executive Program, PEWIN
Sluggish Response
Cause: Too much damping or too little proportional gain
Fix: Increase K
P
(Ix30) or decrease K
D
(Ix31)
Overshoot and Oscillation
Cause: Too little damping or too much proportional gain
Fix: Decrease K
P
(Ix30) or increase K
D
(Ix31)
4. Perform a parabolic move and use the following guidelines for the selection of the appropriate I-
Variables:
Ideal Case
The following error is reduced at
minimum and is concentrated in the
center, evenly along the move
High vel \ FE correlation
Cause: damping
Fix: Increase K
vel
(Ix32)
High vel \ FE correlation
Cause: friction
Fix: Increase Integral gain (Ix33) or
Friction Feedforward (Ix68)
High acc \ FE correlation
Cause: Integral lag
Fix: Increase K
aff
(Ix35)
High acc \ FE correlation
Cause: Physical system limitations
Fix: Use less sudden acceleration
Negative vel \ FE correlation
Cause: Too much velocity FF
Fix: Decrease K
vel
(Ix32)
High vel \ FE correlation
Cause: damping and friction
Fix: Increase K
vel
(Ix32)
High acc \ FE correlation
Cause: Too much acc FF
Fix: Decrease K
aff
(Ix35)
High vel\FE and acc\FEcorrelation
Cause: Integral lag and friction
Fix: Increase K
aff
(Ix35)

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Delta Tau PMAC VME Specifications

General IconGeneral
BrandDelta Tau
ModelPMAC VME
CategoryController
LanguageEnglish

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