tuning

Tuning

There are normally several control loops in an ecmc motion system:

• Position loop (centralized in ecmc if CSV)
• Velocity loop (in drive)
• Current loop (in drive)

Position loop

The position loop control parameters can be accessed and tuned by PVs. Normally, a pure P controller is enough (ki and kp set to 0) but sometimes the I and D part can be needed for instance if the drive is running in CSP mode with ecmc position loop enabled (ecmc mode CSP_PC).

Backlash

Tuning systems with backlash can be difficult. Sometimes a small D-part helps to reduce spikes in the centralized ecmc position loop controller output.

Velocity and Current loop

These control loops need to be tuned in the drive.

For EL70x1, see EL70x1 Tuning For other drives, consult the dedicated manual.

EL7062

EL7062 have an autotune feature that works well. For more info see knowledge-base/hardware/el7062.