Controller optimization with combined encoder evaluation in the inverter

Configure drive train (deactivate external encoder).  

Determine load inertia.

Optimize the speed controller.

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.