From RSI - Robotic Systems Integration - SynqNet Systems
This is an unofficial PID tuning procedure. You can also try our AutoTuner in RapidSetup.
For official PID Tuning procedure please visit: Servo Tuning Guide
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Safety Precaution - Setting Position Error value and Action
Make sure Position Error value is entered and action is set to ABORT.
Setting up Motion Scope
Add Commanded Position, Actual Position, Position Error and DAC Output traces for respective axis as shown below
All PID gains set to 0
Make sure all gains are set to 0 in RapidSetup as shown below:
Setting Kd (derivative gain)
Now Enable Amp and increase the Kd (derivative gain) until axis becomes instable and very audible. Keep listening to motor for any instability and look at Motion Scope to see if DAC output is oscillating. Try giving axis slightest push (safety precaution: make sure hand is not in the machine).
Once maximum Kd value is determined, turn Kd down by 2/3. (Note: when a high value of Kd is entered, axis might run away so make sure you have position error limit value and action set using RapidSetup). In my example I got audible noise at Kd = 1098, therefore final Kd = 366.
Setting Kp (proportional) and Ki (integral) gains
- Kp: Set to 1/10th of Kd (derivative gain)
- Ki: Set to 1/100th of kp (proportional gain)
Setting IntMaxMoving and IntMaxRest
Set both IntMaxMoving and IntMaxRest to 16384:
Setting Feedforward gains
To effectively set Feedforward tuning gains (Kpff, Kvff, Kaff, Kfff), follow the procedure from the link below.