To configure a Stepper Motor, use Machine Setup to initialize and adjust the servo gains that follow, found in Automation1 Studio under Configure > Axes > Servo > Gains:

  • ServoLoopGainKpv = 
  • ServoLoopGainKiv = 
  • ServoLoopGainKip2 = 
  • ServoLoopGainKv = 


  • ServoLoopGainKip = 
    • Servo Update Rate = MotionUpdateRate * 1000
    • You can find MotionUpdateRate in Automation1 Studio under Configure > Tasks > Motion > Trajectory Generation


  • ServoLoopGainK = 
    • Crossover Frequency can be chosen arbitrarily, anywhere between 20Hz and 40Hz is a good starting point


  • ServoLoopGainNormalizationFactor = 
    • Feedback Resolution is called PrimaryFeedbackResolution in Automation1 Studio, located under Configure > Axes > Feedback
    • MotorPolePitch is equal to the Steps per Revolution, this can be found on your System Specification Sheet
    • StepperMicrostepsPerStep can be found in Automation1 Studio, under Configure > Axes > Motor > Stepper



If you see accumulating position error from move to move, you may need to adjust StepperMotorMicroStepsPerStep:

  • StepperMotorMicroStepsPerStep = (CountsPerUnit)*(360) / (MotorPolePitch)
    • CountsPerUnit can be found in Automation1 Studio under Configure > Axes > Units.
  • No labels