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4.3.3 Fine-tuning the position loop
The following tuning methods involve adjusting the servo loop terms KVELFF, KPROP, KVEL and
KDERIV, which all have a default value of zero.
1. Click the Position Loop Tuning tab
2. The Tuning Parameters frame shows the values of the
terms.
3. The first value to enter is KVELFF. To do
this, click <-Calculate . The Calculate
Velocity Feedforward Gain dialog box
will appear.
Click Use this value to enter the value.
4. In the Shape Parameters frame, ensure the Move
Type box is set to Step.
Click in the Size (uu) box and enter a value of 0.2.
Note: The term “uu” means user units. Previously,
in the Wizard Axes Scale Parameters
window, you setup a scaling factor of 4096 -
equivalent to 1 count per revolution - so the
the user unit is now revolutions.
If you selected a different scaling factor the
value of 0.2 might not be suitable.