Introduction

Objective: understand the influence of the gains P, I, and D on the response of axis 5 and achieve precise, fast, and oscillation-free motion.

Prerequisites

  • NiryoStudio installed and connected to the Ned2.
  • Access to the PID module.
  • An obstacle-free area for axis 5 movements.

Learning Outcomes

  • Interpret setpoint / actual / error plots.
  • Tune P, I, D to meet dynamic criteria (speed, overshoot, stability).
  • Implement a structured experimental approach.