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Basic Guidelines for Tuning With The XPS Motion Controller

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Basic Guidelines for Tuning With The XPS Motion Controller

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The XPS positions the stage by optimizing error response, accuracy, and stability by scaling measured position error by the correctors Proportional, Integral, and Derivative (Kp, Ki, Kd). The XPS responds to measured position error (Setpoint - Encoder) is indicated in Section 14.1.2.1 of the XPS user manua. The Kform term in the left diagram is set to zero for standard stages. The Kform with variable gains is a tool for changing the PID parameters during the motion and reserved for larger assemblies and special stages. Standard DC Servo stages can have position certainty and stability set by the simplified diagram on the right.

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