, , .
2. Set the coefficients calculated by formulas, click Apply. Click the Zero button on the main XiLab window. Set 0 to the Move to
field, send the command. The engine should stop. Try to move the position manually, make sure that the response is correct -
the engine tries to return to zero position (the encoder reverse is set correctly).
3. Set a small speed in the motion settings, click Apply. Start moving in the main window. The differential coefficient (Kdf) should
be increased if there are vibrations and disruptions.
4. If the vibrations have audio frequencies (the positioner emits a loud sound when driving), it may be necessary to reduce the Kd
coefficient or all the coefficients proportionally
5. The integral coefficient (Kif) is responsible for getting into the target position, it is convenient to use the command Shift on for
testing.
6. To fine-tune the coefficients use the Oscilloscope window where the speed retention error is displayed for used motion
parameters.
Note. Only special XiLab version support oscilloscope window. Contact us to get it.
7. After the coefficients are adjusted, they need to be proportionally increased/decreased, this corresponds to an increase/decrease
in mass, response to the impact becomes more/less powerful, sudden stops will not lead to disruption of movement.
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