Problem

Steps

• The first step is to see how the tuning changes between the mid-high speed range and the low-speed range. This can be done very easily with the Velocity tab in the Tune window:
  

• Normally there will be significant changes between both, with the low-speed range being way worse tuned and less stable. This applies to almost all the systems but if this is not your case, then you don't need to do any more steps. However, if the tuning performance really changes, we need to proceed to the following steps.
  
• The trick that we do here in order to improve the tuning performance is to use the PID controller used for position control but in the velocity loop. Therefore, the next step needed is to tune the position loop in a fast and stable fashion. If you don't know how to tune the position loop correctly please refer to the following article: Tuning of control loops: Position/Velocity loops. Such tuning should look more or less like the following:
  

• Once the tuning of the position loop is finished, we need to go to the diagram of the Profile/Cyclic Synchronous Velocity and select the position PID controller instead of the velocity PID controller. This can be done with the switch that is shown in the diagram and that should be selected in the following position:
  

• Once this switch is set so that the position controller is the one used for velocity mode, then you can go back to the Tune window and check how the performance of the tuning at low speed has improved. If you are still not satisfied, you can test changing the PID parameters in order to find the most optimal response for your system. In the case of the example, the performance improved to what can be seen in the following picture: