Axis Tuning

With the Axis Tuning tab you can PID tune the Position and Velocity loop for each axes.

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The tab is visible if the application is in run mode, (path: root/Logic/runMode = high), pressing read SDOs will load the PID values for Position and Velocity Loop.

Parameter Rise Time Overshoot Settling Time Steady state error
Kp Decrease Increase Small change Decrease
Ki Decrease Decrease Increase Eliminate
Kd Small Decrease Decrease Decrease None
Parameter Description
i-limit Used to limit the integral value.
Last modified June 7, 2022: Update robot_app (165769d8)