HEIDENHAIN ND 1300 CNC Setup - Manual (Page 8)

CNC Setup and PID Loop Tuning Guide
Default program fixturing mode ......................................................................16
None ..........................................................................................................16
Temporary .................................................................................................16
Permanent .................................................................................................16
Delay firing a probe after CNC move ..............................................................16
CNC PID control loops .............................................................................17
Discussion of PID control parameters ......................................................19
Max velocity ......................................................................................19
Acceleration .......................................................................................19
Max following error ..........................................................................20
Proportional factor .............................................................................21
Continuation zone ..............................................................................22
Derivative factor ................................................................................22
Integral PID control term ...................................................................23
Drift offset .........................................................................................24
Jerk factor ..........................................................................................24
Reversing motor direction .................................................................25
Stepper and servo motor selection .....................................................25
Enabling or disabling axis motion .....................................................25
PID loop tuning .........................................................................................26
CNC test functions for a single axis ..................................................27
Test distance ...............................................................................27
Set home .....................................................................................27
Test .............................................................................................27
Stop .............................................................................................27
Drift test ......................................................................................28
CNC test functions for multiple axes ................................................29
Enable .........................................................................................29
Test distance ...............................................................................29
Set home .....................................................................................29
Test .............................................................................................29
Stop .............................................................................................30
Random ......................................................................................30
PID Loop tuning procedures ............................................................................31
PID Loop tuning procedure diagrams .......................................................31
Tuning flow chart block descriptions .......................................................33
Assign distance ..................................................................................33
Set home ............................................................................................33
Increase proportional .........................................................................33
Oscillates during move? ....................................................................34
Increase derivative .............................................................................34
Start or stop too abrupt? ....................................................................35