Manual Servo Tuning

Use the Manual Servo Tuning tool to manually adjust the servo gains and feedforward gains based on time-series data that is collected during repeated motion. Manual Servo Tuning can help you optimize one move or a small set of moves.

IMPORTANT: Before you use the Manual Servo Tuning tool, the axis that you select must be stable.

  1. In the Axes category of Automation1 Studio, select the Servo topic. Then make sure that you are in the Basic Editing mode.
  2. In the Classical Tuning module, select the Manual Servo Tuning tab at the top of the application.
  3. At the top of the module, click the drop-down arrow to select the axis that you want to configure.
  4. On the Classical Tuning toolbar, click Configure Signals. In the dialog that comes into view, configure the signals that the application will collect while motion is executing. The signals that you configure for the Motion 1 command will also apply to the Motion 2 command. The types of signals that you can collect and plot include:
  5. Configure the Motion 1 and Motion 2 commands before you send them to the controller. To do this, type the commands that you want to use into the adjacent text boxes. For example, you can use the MoveAbsolute() function.
  6. To execute the commands for Motion 1 and Motion 2, click one of the adjacent Execute Command buttons . The controller sends these motion commands to the stage. The stage executes the motion, collects the data, and plots the signals that you collected.
  7. Execute single or repeated motion on the selected axis. Do one of the options that follow:
    • To execute single motion, click one of the adjacent Execute Command buttons for Motion 1 or Motion 2.
    • To execute repeated motion, click the Collect Repeated Motion button .
  8. Adjust the servo gains and feedforward gains. You can do this by entering their new values in the gains boxes at the bottom of the window.
  9. To apply the servo and feedforward parameter values to the controller, click the Apply button.
  10. Execute the motion again. Then examine the performance of the selected axis.
  11. When the performance of the selected axis is satisfactory, click the Save All button on the bottom-left corner of the application. This makes sure that the updated parameters will have an effect after the next controller reset.
  12. If you want to return the servo loop gain values to their most recent configured state, click the Discard button.