Need help with R2020 tuning please.

[minerva]

I've got the following hardware:

Controller: R2020 connected to the parallel port interface as described on Rutex site.

Encoder: US Digital E5S-50-250-IEG.

Encoder interface: Rutex R2210 board connected to the R2020 via a short cat. 5 cable.

Motor: MCG23902, running only at Vm = 24 V for testing at this stage, at reduced speed.

The Rutex-supplied Windows software seems to be working fine, it's communicating with the motor and I can spin up the motor using the test profiles.

I'm following the document which describes the tuning on the Rutex website. It's all good until I get up to the point of adjusting Kp, with Ki and Kd both equal to 0, and my loop time equal to 500 uS. I can't get to any point where I'm recreating anything that looks like the oscillation response as is shown in the Rutex guide.

Can anyone help? Any ideas what ball-park value my Kp should be set to for a motor like this?

Regards.

[mecheng10]

The settings for P, I , and D will depend greatly on the motor you have. If your profile looks like a hill without a plateau, then you need to keep increasing your P. Keep increasing it until you get oscillation. The value could be quite large to get to this point.