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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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