Contents and general instructions
XXXVII
Festo P.BE−SPC200−WIN−PISA−CD−EN en 0901d
Step 12
Optimize the positioning behaviour (optional)
(see also sections 4.3, 6.5, 6.6 and 6.7)
1. Remember to carry out identification travel again after
replacing system components, after modifying the axis or
application parameters or the system structure. Char
acteristic values of your system will be ascertained during
the system identification.
2. Check the axis, application and controller
parameters.
3. Due to the high dynamics of the system, it is often difficult
to judge exactly the positioning behaviour by observa
tion. WinPISA offers support in evaluating by registering
the measured values and by graphic functions. In this
way, you can record measured values, e.g. nominal value,
actual value, speed, etc. and display them
on the screen.
A more exact judgement can be made by comparison of
measurements with different settings.
4. When optimizing, check the controller parameters gain
factor" and damping factor".
5. Adaption takes a certain amount of time. Let your user
program run through a few cycles before you modify the
controller parameters again.
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