July 2013 7.11 Commissioning linear and torque motors 1135
For P and I factors, set low values at first:
(for linear motor: P factor = 1, I factor = 10;
for torque motor: P factor = 50, I factor = 100).
Increase the P factor up to the oscillation limit in 10 % steps
(see the TNCopt User's Manual).
Find the characteristic values of the first filter (F1):
Enter the oscillation frequency (e.g. at 479 Hz),
Enter the bandwidth (e.g. 479 Hz, center frequency),
Enter the damping (3 dB).
Examine the step response.
Check whether a constant P factor decreases the excessive value.
Increase the damping in 3-dB steps (damping greater than approx. 18 dB
normally has no benefit).
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