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

                                   Before

                                      After

Servo Tuning Techniques
PID
Overview
PID Parameter Definitions
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