Editing Tuning position controller

Position controller tuning means finding the correct drive settings and feedback gain values to achieve a proper [[Servo stiffness]] and response to a position [[Setpoint signal|setpoint]] change. 

==Position control tuning method==
TODO Manual tuning of torque controller is some times done in order to optimize the torque controller response or to find the correct motor resistance [[MR]] and inductance [[ML]] parameters if unknown. Manual tuning also usually yields better torque response than the direct method which may help tuning of velocity or position tuning.

In order to change torque tuning, one needs to change motor resistance [[MR]] and inductance [[ML]] parameters until the torque response looks satisfactory.
===Preparations===
[[File:postestingtab.png|thumb|An example of Testing tab settings for position controller tuning. Different settings should be experimented during the process to observe the stability and behavior of the settings.]]
Steps to do to begin position tuning:
*Ensure that motor is [[Argon user guide/Drive parameterization|parameterized]] correctly and working and [[Tuning torque controller|torque control tuning]] has been properly done.
*Attach motor to the target machine in a position where it can rotate in both directions
*Make following parameter changes to Granity and click apply afterwards:
**Set drive in position control mode [[CM]]
**Choose ''Serial only'' setpoint input [[CM]]
**Make other necessary adjustments to have drive powered and enabled 
*Optional but recommended:
**Untick Setpoint smoothing [[CIS]]
**Set Goals tab [[DIV]] and [[MUL]] to 50
*Set-up the test stimulus and capture settings from Testing tab (an example, may be varied):
**Set target setpoint 1 [[TSP1]] to 100 
**Set delay 1 [[TSD1]] to 0.25 seconds
**Set target setpoint 2 [[TSP2]] to -100
**Set delay1 [[STD2]] to 0.25 s
**Choose sample rate [[TSR]] of 500 to 2500 Hz
**Choose ''Capture setpoint change ind positive direction'' from the dropdown
**''Tick Continuously repeating capture''
**Tick ''Position setpoint'' and ''Position achieved'' from signals
**Tick ''Start capture'' to begin continous capture. 
**Tick Enable test stimulus [[TSE]] to begin a continuous position back and forth motion generation

Once the steps above are done, motor should be generating short distance back and forth motion motion and position response graphs should appear on the right side of Granity about once in 3-5 seconds.

===Adjusting MR and ML to for optimum torque control===

----------The task here is to adjust the [[MR]] and [[ML]] parameters to achieve near optimum step response for the torque controller. Observe the images below for guidance.

{{tip|If the drive faults during this testing due to overcurrent, try reducing [[TSP1]] value or increase fault current tolerance [[FOC]] parameter. Or try radically different [[MR]] and [[ML]] values. }}

[[File:posgains1.png|800px|]]
[[File:posgains2.png|800px|]]
[[File:posgains3.png|800px|]]
[[File:posgains4.png|800px|]]
[[File:posgains5.png|800px|]]
[[File:posgains6.png|800px|]]
[[File:posgains7.png|800px|]]
[[File:posgains8.png|800px|]]
[[File:posgains9.png|800px|]]


===Steps to do after manual tuning finished===
UPDATE
*Stop test stimulus by unticking [[TSE]]
*Stop scope catpure by unticking ''Continuously repeating capture''
*Undo all temporary changes made to settings (such as [[TBW]], [[CM]], [[DIV]], [[MUL]]) but leave the optimized [[MR]] and [[ML]] values active
*Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button