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Disturbance Amplitude

All of the tuning tools inject some type of a disturbance into the servo loop. Then they measure the response to that input. If the magnitude disturbance is large, it puts more energy into the servo loop. As a result, it generates more motion and gives you a higher quality measurement. The best disturbance magnitude is usually the largest value that you can use without the risk of causing damage to the axis or surrounding components. Also, this value must not cause the controller to generate a fault.

 

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