Stepper Overview
A stepper motor can be an open or closed loop
A broad term relating to any system where the output is measured and compared to the input. Output is adjusted to reach the desired condition. system. When it's a closed-loop system, Machine Setup will configure the servo loop as a single feedback PI controller.
To configure the servo loop, use Machine Setup to set the servo gains that follow:
- ServoLoopGainKpv =
- ServoLoopGainKiv =
- ServoLoopGainKip2 =
- ServoLoopGainKv =
- ServoLoopGainKip =
- ServoLoopGainK =
- ServoLoopGainNormalizationFactor =
Servo Loop Tuning
You can use the Frequency Response Module in the Configure workspace to tune the servo loop and to select a crossover frequency. To select a crossover frequency, run a number of frequency responses and use the highest stable frequency. If the crossover frequency is too high, the motor might stall. When you configure a closed-loop stepper in Machine Setup, the default crossover frequency is 5 Hz.
