Re: How I tune Rutex servo drive KP, KI, KD

--- In CAD_CAM_EDM_DRO@yahoogroups.com, "irfan_younis"
<irfan_younis@y...> wrote:

> Hello,
> I have Rutex servo drive R990H and R991H, I am faceing some

problems

> to tuning these servo drives I have Rutex tuning software any body
> can tell me how I can tune servo motors with these drives and how I
> adjust KP, KI, KD.
> Hope to read you soon.
>
> Regards,
>
> Irfan

it's explained in the latest "RT990H.exe" from http://rutex.com/.
rutex says "Do a preliminary test on the bench to familiarize
yourself with the drive. For this test setup, start with lower Vm and
use a current limiting power supply. Note that the drive must be
mounted to a large heatsink. Pots:
1. Adjust all three pots (Kp, Ki, Kd) fully CCW. Note, that these
pots are multiturn with 20 turns and no
stops. Adjust I lim pot fully CCW. This is a single turn pot with a
stop.
2. Connect motor, encoder and supplies to the R990H as per above
drawing.
3. Gently increase Kp and by hand move rotor of motor. Verify that
the drive corrects the error. If the
motor runs away, the polarity of the motor must be swapped or
channels A and B from the encoder
must be swapped.
4. Increase the Kp until the system starts to oscillate. After that,
increase the Kd to dampen the
oscillations.
5. The Kp, Kd and acceleration of the systems should be fine tuned
without any Ki, with your
application software. The Ki should be applied when system is nearly
finished. Ki corrects the
steady error. Too much of Ki causes oscillations. Always, when
increasing Ki, the Kp and Kd
should be increased as well.
6. Adjust the I lim pot for required torque of the servo drive."

there is more, e-mail them and they will send it to you. i am just
beginning to wire my system up and would be interested to know how it
went for you..
regards,
keith