ServoLoopSetup Parameter
Default Value: 0
Minimum Value: None
Maximum Value: None
Units: None
Type: int
Tip: To automatically tune and optimize an axis in a new or existing system, you can use the EasyTune feature. This feature is in the Axes > Servo section of the Configure workspace in Automation1 Studio. After EasyTune completes, the optimized servo gains and servo filters are committed to the controller.
Use the ServoLoopSetup parameter to configure options related to the servo loop. The sections that follow give the possible settings for this parameter.
XI4 Stepper Mode
HARDWARE: This setting applies only when used with the iXI4 or the XI4 and you set the MotorType Parameter to StepperMotor or ThreePhaseStepper.
This option specifies the behavior of the iXI4 or the XI4 when configured to control a stepper motor.
Clock/Direction Outputs is the default. The iXI4 or the XI4 generates clock and direction signals to send to an external stepper motor amplifier.
When you select Current Command Outputs, the iXI4 or the XI4 generates two phase current commands to control the stepper motor.
Motor Outputs When Disabled
HARDWARE: This setting applies only when used with FLEX, iXA4, XA4, iXC2, XC2, iXC2e, or XC2e.
This option specifies the behavior of the motor outputs.
Open Circuit is the default. The motor outputs are not connected when the axis is disabled.
When you select Shorted to Negative Bus, all three motor outputs are shorted together and tied to the negative motor supply when the axis is disabled.
PWM Switching Frequency
HARDWARE: This setting applies only when used with the iXC6e or XC6e.
This option specifies the PWM switching frequency of the drive.
20 kHz is the default. The PWM switching occurs at 20 kHz.
When you select 10 kHz, the PWM switching occurs at 10 kHz. Switching at 10 kHz can improve the thermal performance of the drive and supply greater current output.
Apply Calibration to Feedforward
HARDWARE: This setting applies only when used with the GL4.
This option specifies how feedforward works when galvo 2D axis calibration is applied.
Disabled is the default. Galvo 2D axis calibration does not have an effect on the feedforward output.
When you select Enabled, the drive calculates the feedforward output by including the effects of Galvo 2D axis calibration.
IMPORTANT: If you use this feature with a calibration file that has low resolution or has discontinuities in the data, the performance of the galvo axes can decrease.
