Tuning a MechaWare System

The basic methods and concepts of Servo tuning are no different for MechaWare firmware and standard PID or PIV control. For an overview of servo tuning concepts, see Servo Tuning. The Bode Tool documentation also describes how to run a sine sweep or FFT measurement to help characterize the motor response. For more information about the Bode Tool utility see, Bode Tool.

There are two standard methods to view and edit MechaWare Filter Block parameters during the tuning process. These methods are described in the following sections.

View and Edit Parameters using Simulink

MATLAB®/Simulink® users can update Filter Block parameters within the Simulink window, save the model, and download the model to the controller with each change. This provides complete flexibility to change any Block Parameter and edit the Model. For more information about an example workflow, see MechaWare Case Study Tutorial.

View and Edit Parameters using Bode Tool

MechaWare 4.0 allows developers to use the Filter Tool window in the Bode Tool utility to edit common filter block parameters as part of the tuning process. Specifically, the Bode Tool can edit PID with Reset, PIV with Reset, and BiQuad blocks. For more information about changing block parameters, see Filter Tool - MechaWare Firmware.