Tuning a Stepper Motor in Automation1

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.