Tuning a PID Spindle

  1. Start with PGain IGain DGain all set at zero.

  2. Adjust the FF0 Gain until you get the correct speed at one particular speed demand.

  3. Then increase the Igain until the speed settles at the rate you want at other speed requests.

You might want to set the FF0 a little low so that the speed never over-shoots.