The set point is the XBPM position to hold.
KP = -0.001 (Note that KP is negative.)
KI = 400
KD = 0
With a positive KP, then the feedback drives away from the set point.
No KD term is needed. KI term of 1000 produced ringing (which damped in about 10 cycles) when set point was changed.
KI=400 produces a mild overshoot.
Before FBON is set to ON, I term should be loaded with the current value of the positioner. Otherwise, the positioner will jump. Likewise, the limits DRVL and DRVH should be preloaded from the positioner. |