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This guide is intended for analog/sine encoder stages that are experiencing a Position Feedback Fault, Velocity Feedback Fault, for maintenance and upkeep purposes, or as recommended by an Aerotech representative. This process can be completed in about 5 minutes on most stages, and is compatible with A3200 and Ensemble.
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Follow these instructions if your stage can be Enabled without getting faults and |
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can move short distances normally. |
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- Run Automation1 Studio and connect to the controller.
- Enable and jog your axis to the center of travel using
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- the Axis Dashboard at the bottom of the Automation1 Studio window. Tuning should be started approximately at the center of travel, away from crash conditions.
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- Configure tab, Axes > Feedback category.
- If you are in the Advanced editing view, click Go to Basic Editing in the top right corner.
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- Select the desired axis from the axis list
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- .
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- The axis will move automatically during the tuning process. Click View Motion Details to confirm the speed and distance which the axis will move.
Image Added - Click the Start button to perform automatic encoder tuning. The process will complete over the span of several seconds.
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- You may examine the parameter changes by clicking Go to Advanced Editing if you wish.
- Click the Save All button under the parameter categories to commit the tuning change.
- The controller will reboot with the new encoder gains applied.
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In the event that you cannot Enable your axis for any reason, please use the below instructions to complete the encoder tuning process.
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Alternatively, you can uncheck Enable Motion in the Motion Configuration window, select Collect Data, and jog the stage manually over the full travel using A3200 Motion Composer. |
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| For unstable stages, or stages experiencing faults |
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Follow these instructions if your stage receives any faults when Enabled, or if the axis is unstable. This process will require two people: one to operate the software, and one to move the stage manually/by hand (called |
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below). Info |
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| This procedure can only be completed on stages that can be moved safely and freely by hand while Disabled. |
- Run
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- Automation1 Studio and connect to the controller.
- Have the stage operator physically slide your axis to the center of travel Tuning should be started approximately at the center of travel, away from crash conditions.
- Navigate to
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- the Configure tab, Axes > Feedback category.
- If you are in the Advanced editing view, click Go to Basic Editing in the top right corner.
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- Navigate to the Manual Encoder Tuning tab at the bottom of the page.
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- Uncheck the Enable Motion toggle.
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- Have the stage operator oscillate the stage in a small range of motion at an even rate. This simulates the function of the Enable Motion feature.
- Click
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- the Tune Encoder Parameters Image Added button to begin tuning.
- The software will automatically calculate a corrected set of encoder parameters, shown by the red Lissajous below. The red Lissajous data is overlapping the ideal 1 Vpp circle, displayed in black. This may not always be visible; it is marked by the blue arro16pxws in the below screenshot. The
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- stage operator may stop oscillating the stage
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- now.
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- Click the Apply Changes button.
- Click the Save All button under the parameter categories to commit the tuning change.
- The controller will reboot with the new encoder gains applied.
- You'll be placed back on the Manual Encoder Tuning page where we will now confirm that the encoder gains are acceptable across the full range of travel.
- Have the stage operator move the stage back and forth across the entire range of travel, at a slow and even pace.
- Click the Collect Continuous Image Added button to get the raw & corrected encoder data across the full range of travel. This will not modify the encoder gains.
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- The data will continually update as the stage operator moves the stage. Observe the data over the full range of travel.
- The corrected red Lissajous should remain on or somewhat inside the black 1Vpp circle. If at some position the Lissajous becomes much larger than the
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- black circle, repeat the tuning procedure from the earlier steps with the axis located at
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- that position, then verify over the full range of travel again.
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- When you are satisfied that the encoder performance is adequate press the Stop Collection Image Added button and you may resume stage operation.
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