GAIN tuning

It may be necessary to tune the GAIN when the system is in closed loop, depending on the type of load applied on the motor shaft. GAIN tuning is a good use of the integrated motor feedback tuning windows.

Below is a list of Objects needed to tune the system:

Object Name	Note
Feedback_Iq_Min
Feedback_Kp	Mandatory. GAIN to tuning depending by application
Feedback_Kv	Mandatory. GAIN to tuning depending by application
Feedback_Ki	Mandatory. GAIN to tuning depending by application
Feedback_Kffw_Acc	Mandatory. In the first testing can be keep to 0
Feedback_Kffw_Dec	Mandatory. In the first testing can be keep to 0
Feedback_Kfbw_Acc	Mandatory. In the first testing can be keep to 0
Feedback_Kfbw_Dec	Mandatory. In the first testing can be keep to 0

A good way for the tuning where possible, is to have the motor that can run forward and backward.

One method for the tuning is:

1. Set all the feed-forward GAIN to 0 (Feedback_Kffw_Acc/Feedback_Kffw_Dec = 0 and Feedback_Kfbw_Acc/Feedback_Kfbw_Dec = 0.

2. Set Feedback_Kp = 0 and Feedback_Ki = 0 and start tuning Feedback_Kv to check how the motor responds in velocity (check the velocity error).

3. IntroduceFeedback_Kp to check the position error.

4. Introduce Feedback_Ki to reduce the following at constant speed.

5. If necessary, edit the feed forward parameter (Feedback_Kfxx) to decrease the position or velocity error during the acceleration/deceleration ramp.