Servo Tuning Basics

Things to Consider

                                   Before

                                      After

Servo Tuning Techniques

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

PIV
Overview
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
Overview

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

Frequency Shaping
Overview

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