RoboteQ user manual Closed Loop Speed Mode, AX3500 Motor Controller User’s Manual

Closed Loop Speed Mode

In Speed Mode, the Integral component of the PID is the most important and must be set first. The Proportional and Differential component will help improve the response time and loop stability.

In the case where the load moved by the motor is not fixed, tune the PID with the mini- mum expected load and tune it again with the maximum expected load. Then try to find values that will work in both conditions. If the disparity between minimal and maximal pos- sible loads is large, it may not be possible to find satisfactory tuning values.

Note that the AX3500 uses one set of Proportional Integral and Differential Gains for both motors and therefore assumes that similar motors, mechanical assemblies and loads are present at each channel.

106 AX3500 Motor Controller User’s Manual Version 1.9b. June 1, 2007