The manual describes how to tune the cascaded position controller using the Auto-tuning feature.
Before conducting any of the tuning activities please check if motor is functional in torque mode and sensor data is transmitted normally. For high-quality motor control tasks, a precise and reliable sensor should be used. Quality of the motor position control may be insufficient with low resolution sensors, especially if a Hall sensor is used.
The current version of the auto-tuning feature allows user to tune a BLDC motor drive. A load can be attached to the motor. However, if the motor position has very strict limits this feature is not recommended, because the motor may make a few full turns.
Auto-tuning is performed in three steps:
Identifying the physical properties of the object to build a mathematical model of the target system.
Using the model to calculate controller gains that result in a specified position control-loop performance.
Tuning the velocity loop with Velocity Auto-Tuning for Cyclic Synchronous Velocity mode (CSV).
The Position Auto-tuning process calculates the gains for the cascaded controller automatically.
In our experience, the cascaded PID controller structure is one of the most effective for motor control applications. For details see PID Controllers: Theory, Design, and Tuning
The Velocity Auto-tuning process calculates the gains for the velocity controller automatically.