Controller optimization with combined encoder evaluation in the software module

Configure the drive train (do not activate combined encoder evaluation and activate position control for the motor encoder).  

Generate an IEC Project.  

Open the optimization monitor.  

Add MAC trace template.  

Deactivate external encoder (EncoderEvaluation drop-down).

Determine load inertia.

Optimize speed controller without payload.

Activate external encoder.

Apply suggested value for time constant and P gain of position controller.

Test the application (startup is completed if the test is successful. Otherwise, continue with the following steps).

Deactivate external encoder.

Determine the time constant.

Activate external encoder.

Optimize position controller.

Test the application (startup is completed if the test is successful. Otherwise, continue with the following steps).

Perform extended optimization measures.