Servo Tuning Basics

What is Tuning?
Servo Tuning Guidelines
What is a Servo?
Servo Algorithms: PID / PIV
The PID Algorithm and DRate
About PID PIDOutputOffset Parameter
Post Filter Theory

Specification Tips
Acceptable vs. Unacceptable Oscillations
Choosing Specifications for a Machine

Things to Consider

Comparison Table
Should I use PID or PIV?
Relation of Motor Object Offsets
    to Filter Object Offsets

Comparing Different Move Times with
    Different Under Damped Peaks

Tuning with Frequency Shaping
Tuning with Feedforwards
Converting PID Parameters to PIV Parameters




Servo Tuning Techniques

PID Parameter Definitions

How to Tune:
Step Behavior / Overshoot Criteria
Step Behavior / Stability Criteria
Under Damped / Over Damped
Scaling PID Tuning Parameters

PIV Parameter Definitions

How to Tune:
Monitoring Velocity Loop Performance
Tuning the Velocity Loop with Kpv, Kiv, Kpp
    - Smoothing the Actual Velocity (Kpv)
    - Applying the Velocity Loop Integral (Kiv)
    - Applying the Position Loop Gain (Kpp)

Tuning the Velocity Loop with Kpv, Kpp, Kip
    - Smoothing the Actual Velocity (Kpv)
    - Applying the Position Loop Gain (Kpp)
    - Applying the Position Integral Gain (Kip)

Feedforward Tuning

How to Tune:
    - Acceleration Pattern (Kaff)
    - Velocity Pattern (Kvff)
    - Offset (Friction) Pattern (Kfff)
    - Final Adjustments
    - Friction Feedforward
    - Acceleration Feedforward
    - Open Loop Feedforward

Frequency Shaping

How to Tune:
Frequency Shaping Tuning
Understanding/Reading Bode Plots
Mechanical Resonance
   - Calculating Mechanical Resonance Frequencies
   - Tuning a System with Mechanical Resonance



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