Parker Hannifin
86 Aries User Guide
Servo Tuning Example The example below illustrates how to experimentally obtain the highest
possible proportional feedback (SGP) and velocity feedback (SGV) gains. For
a Servo Tuning flow diagram, see “Appendix A Additional Specifications” on
page 168.
The motion command used for this example is a step command with a step
size of 200. The plots shown are as they appear in the Aries Support Tool
(X axis = time, Y axis = position).
Note: The steps shown below (steps 1 to 11) represent the major steps of
the process; the actual progression between these steps may require several
iterations.
Step 1
For a starting trial, we set
the proportional feedback
gain (SGP) to .5. As you
can see by the plot, the
response is slow.
In the next step, we should
increase SGP until the
response is slightly under
damped.
Step 2
With SGP equal to 2, the
response becomes slightly
under damped (see plot).
Therefore, we should
introduce the velocity
feedback gain (SGV) to
damp out the oscillation.