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Quick Start Guide
ZMP-SynqNet Controller

Tune the Servo Control Loop

After you have verified the hardware setup of the SynqNet Network using the various Motion Console summary windows, you can now tune the servo control loop in order to make a move.

Click on the button to open the Motion Supervisor Summary window.

Verify that the Motion Type is set to Trapezoidal under the Config tab. Go to the Actions tab and click the Clear Fault Button.

        

 

Click on the button to open the Filter Summary window.

Verify that the Algorithm is set to PID under the Config tab.

Go to the Coeffs tab and select PID from the Algorithm drop-down menu.

WARNING!
Before entering any tuning parameters, find out what are safe tuning parameters to use. Otherwise, you may damage your motors.

For our example we will use the following parameters:

 
WARNING!
Example Parameters Only
(Not to be used for every system)
  •  800 for Proportional Gain (Kp)
  •  8 for Integral Gain (Ki)
  •  1,200 for Derivative Gain (Kd)
  •  10,000 for Integrator Maximum
      at Rest (IMaxRest)

 

Click on the button to open the Motor Summary window.

Verify that the motor Type is set to Servo under the Config tab.

 

Verify that the Amp Polarity is set to Inverted and check the Amp Enable checkbox to Enabled.

 

Click on the button to open the Axis Summary window.

Under the Motion tab, enter the following parameters:

 
  •  10000 for Position 2
  •  0 for Position 1
  •  10000 for Velocity 
  •  5000 for Acceleration
  •  5000 for Deceleration

 

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