Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
Motor Setup
195
Position-
Loop PID Gains: Ixx30…Ixx39
The position-loop tuning is done as in any Turbo PMAC PID-Loop setup. The PMACTuningPro2
automatic or interactive utility can be used for fine tuning.
automatic or interactive utility can be used for fine tuning.
WARNING
Remember to perform an Open Loop Test after phasing and
before trying to close the loop on the motor to make sure that the
encoder decode (I7mn0) is correct. A positive open loop
command should result in positive direction (of the encoder)
motion and vice-versa.
before trying to close the loop on the motor to make sure that the
encoder decode (I7mn0) is correct. A positive open loop
command should result in positive direction (of the encoder)
motion and vice-versa.
Good Open Loop Test
Acceptable Step and Parabolic position responses should look like the following:
Position Step Response
Position Parabolic Response