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To configure a Stepper Motor, use Machine Setup to initialize and adjust the servo gains that follow, found in Automation1 Studio under Configure > Axes > Servo > Gains:

  • ServoLoopGainKpv = Image Modified
  • ServoLoopGainKiv = Image Modified
  • ServoLoopGainKip2 = Image Modified
  • ServoLoopGainKv = Image Modified


  • ServoLoopGainKip = Image Modified
    • Servo Update Rate = MotionUpdateRate * 1000
    • You can find MotionUpdateRate in Automation1 Studio under Configure > Tasks > Motion > Trajectory Generation


  • ServoLoopGainK = Image Modified
    • Crossover Frequency can be chosen arbitrarily, anywhere between 20Hz and 40Hz is a good starting point


  • ServoLoopGainNormalizationFactor = Image Modified
    • Feedback Resolution is called PrimaryFeedbackResolution in Automation1 Studio, located under Configure > Axes > Feedback
    • MotorPolePitch is equal to the Steps per Revolution, this can be found on your System Specification Sheet
    • StepperMicrostepsPerStep can be found in Automation1 Studio, under Configure > Axes > Motor > Stepper



If you see accumulating position error from move to move, you may need to adjust StepperMotorMicroStepsPerStep:

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