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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

(Ix30) or decrease K

(Ix31)

Overshoot and Oscillation

Cause: Too little damping or too much proportional gain

Fix: Decrease K

(Ix30) or increase K

(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)

Brand	Delta Tau
Model	PMAC VME
Category	Controller
Language	English

Delta Tau PMAC VME User Manual

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Delta Tau PMAC VME Specifications

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