9018

Interpreter 1000 Tuning

PID Tuning Overview:

Below are default values for tuning

P - 1000

I - 2

D - 260

Offset - 0

Scale - 1000

Max Error I - 100,000 (has been as low as 100 on some systems).

Possible issues due to poor tuning:

1. Axis jogs only one way in small increment step jogging. This is caused by the offset being incorrect.

2. Axis runs away on enable or motion command and you get a FE. This is caused by the encoder polarity being reversed.

3. Use above default values

4. small moves (.5 inch)
5. start w/ one motor
6. increase P until it starts moving
7. increase I until it goes to the commanded position
8. increase D until it is stable

Resources:

• http://en.wikipedia.org/wiki/PID_controller
• http://www.csimn.com/CSI_pages/PIDforDummies.html