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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 = 

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• ServoLoopGainKiv =

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• ServoLoopGainKip2 = 

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• ServoLoopGainKv = 

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• ServoLoopGainKip =

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

• ServoLoopGainK =

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

• ServoLoopGainNormalizationFactor = 

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  • 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:

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