Step 7: Optimize the configuration value for the P gain of the position controller (optional)

When positioning using the motor encoder and adjusting using the Stiffness of the control and Backlash setting parameters, the value recommended by SEW-EURODRIVE for the P gain of the position controller is always half the P gain of the speed controller. When positioning using a distance encoder, the suggested value for the P gain of the position controller is lower.

  1. Check whether the "Position control" setting is enabled under [Drive trains] > [Drive train AS1] > [Distance encoder] > [Usage].
    • The distance encoder is used for position control.
  2. Activate the "Advanced settings" under [Drive trains] > [Optimization DT1].
    • The adjustable parameters for the speed and position controllers are displayed.
  3. Reduce the value recommended by SEW-EURODRIVE for the P gain of the position controller to a lower value.
  4. Move the drive in a position-controlled operating mode (e.g., using the position-controlled manual mode, load cycling, or cycle mode of MOVISUITE® manual operation).
  5. Slowly increase the P gain of the position controller until the desired positioning accuracy is achieved (max. 50% of the P gain of the speed controller) while keeping the oscillation amplitude as small as possible.
  6. To verify the settings, record the drive motion in MOVISUITE® Scope.