Motion Coordinator Technical Reference Manual
System Setup and Diagnostics 6-9
Setting Servo Gains
The editor built into Motion Perfect may be used to enter the test program. Click
on P
rogram, New from the pull down menus and enter a program name, replacing
the name
UNTITLEDx. Now click on the EDIT button and an edit window will be
opened where the program shown above may be typed in. See the Motion Perfect
section for more details on how to use the editor. Once the program is entered, it
can be run by clicking on the red button next to its name or the RUN button in
the Controller Status panel.
The servo gain parameters may be set to achieve the desired response from the
servo system. The desired response can vary depending on the type of machine.
Different gain settings can be used to obtain:
Smoothest motor running
This can be achieved by using low proportional gain values, adding output veloc-
ity gain adds smoothing damping at the expense of higher following errors.
Low following errors during complete motion cycle
This can be achieved by using velocity feed forward to compensate for following
errors together with higher proportional gains.
Exact achievement of end points of moves
This can be achieved by using integral gain in the system together with propor-
tional gain. However overshoot will occur at the end of rapid deceleration.
Typically a combination of the above is required.
Note:
The system should be set with proportional gain alone firstly starting with
the default value of 1.0 The other gains should then be introduced if
necessary according to the descriptions which follow.
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