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What is Tuning?

 

"To tune or not to tune, that is the question:
Whether 'tis nobler in engineering to suffer
the slings and arrows of erratic machine behavior,
or to take arms against its sea of motion profiles,
And, by tuning, end them."

 
  tuning def.
To adjust (an engine, for example) for maximum usability or performance. Calibrating something (a musical instrument or electronic circuit) to a standard frequency.
 

Tuning a machine is very similar to tuning a musical instrument such as a guitar. In order for a guitar to produce the music that it was intended to make, each string must be tuned to the right pitch, otherwise, the overall sound of the guitar will not sound right. In the same way, a machine that is not properly tuned is not optimized and is unable of producing the most efficient motion.

The object of tuning is to tweak the various gains and motion parameters of a machine so that the resulting motion is optimized for production purposes. A machine is considered "tuned" if the its servo perfomance meets its specification requirements.

Generally speaking, here are some common signs that a servo is tuned:

 
  •  Visibly smooth motion.
  •  Little to no audible noise produced during and after a commanded motion.
  •  Little to zero position error after the completion of a commanded motion.

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