Skip to main content
Submitted by hucker on Mon, 11/02/2015 - 13:29

We have a belt drive rotary axis in a system and need a high resolution encoder to get the accuracy we need. We recently moved to a higher resolution encoder because we are controlling a larger diameter rotary table. The problem we seem to have run into is that the KP/D values have almost no resolution left. The gains for these parameters are around 1.00 to 1.50 which per the manual works in steps of 0.125. On our old systems they tuned fine but we had 1/10th the encoder resolution which I believe means we had 10x the gain resolution. These new systems have proven difficult to tune compared to the point that the system is not turning smoothly.

Is there a way to mitigate the loss of resolution in the control gains when operating with hi-res encoders? The only thing I have come up with is running the fast firmware.

Comments 1

Galil_CoryB on 08/19/2016 - 11:12

hucker-

Changing the servo loop time will effect the KD term as there are a greater/lesser number of servo loops in a given time but the effect of KP are not effected by the servo loop or fast firmware.

There may be something we can discuss using the current gain to increase your effective resolution but I would need a bit more information on the application to make a recommendation. At your convenience, please give me a call or email me at coryb at galil dot com.