I'm trying to manually tune my stages (when i use the automatic tuning routines in WSDK, the stages shake like crazy). Anyway, what i have read about manually tuning indicates setting KP and KI equal to zero and increase KD until a step move generates oscillation. When i set KP=0, and KD=5, the axis does not move. If i set KP=0.125, i can get KD to go to 4000 without oscillation (it overshoots, but does not oscillate). Is the KP not being set to zero messing with this technique?
Also, the reason i am tuning the stages is because after an hour of repetitive moves, the stages begin to "chatter". With my current settings of KD=5, KP=1.5 and KI=0.01, the stages will not chatter at startup. Would you recommend trying to tune after things have warmed up a bit?
Controller is DMC-18x2 series.