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ParameterDescription
H0

H0 is an overall gain on the controller. This is set to 100% by default. It will affect the following gains

H4_CONTROLLER = H4 * H0 / 128
H5_CONTROLLER = H5 * H0 / 128
H6_CONTROLLER = H6 * H0 / 128
H7_CONTROLLER = H7 * H0 / 128

H0 is commonly used to detune the controller is as a whole.

H1

H1 does not have any specific function. Changing H1 will have little effect and should not be changed

H2H2 does not have any specific function. Changing H2 will have little effect and should not be changed
H3H3 is a filter in the control system. Increasing H3 will stiffen the controller increasing response time.
H4H4 acts most similar to a proportional gain
H5H5 acts most similar to a differential gain
H6H6 acts most similar to an integral gain
H7H7 is a filter on the control system. Increasing H7 will make the controller sluggish. It gives me the effect of making the system feel more "spongy".

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When coupled to a long ballscrew a harmonic resonance may be induced. Reduce H0 to detune the system as a whole. H0 should be reduced in increments of 10 until the resonance is eliminated.

  • You may notice that that the system response is reduced below acceptable levels. Increasing H4, H5, and H6 can help improve response.

Large inertia mismatch

The default gains will often function well on mismatches all the way to 50:1. Once going beyond 50:1 it may be required to change a few parameters. The following steps can be followed to easily obtain stability.

  1. Set H4=200
  2. Set H6=9
  3. Continue to increase H4 in increments of 50 and decrease H6 in decrements of 2 until the load is stable.
    1. If H4 is required to get very large (>600) a humming sound (resonance) may appear. Reduce H0 slightly to account for this.
    2. H6 can be set as low as 0 but typically you would want to keep this at minimum 1.
  4. H3 can be increased slowly if the response of the system is lagging. Often this is not required unless the load is accelerating quite quickly.

Oscillating Load

If the load is coupled to the motor with a flexible helical style coupling there could be oscillations induced. Increasing H3 will stiffen the controller and help stabilize the oscillating.

Slow speed, low ripple, light load

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