Servo Tuning Parameters, with Suggested Initial Values

Adept SmartMotion Developer's Guide

Servo Tuning Parameters, with Suggested Initial Values

Servo Tuning Parameters for Robot Number __ Motor Number __

Parameter Units Usual Range Suggested Initial Value Your Value

Proportional gain
(DC gain) DAC_counts
enc_cnt 1 to 100 1

Proportional zero none 0.8 to 0.99 1 0.98

Proportional pole none 0 to 0.8 0

Integral gain DAC_counts
enc_cnts * ms 0.01 to 50 0

Maximum integrator value DAC counts 0 to 32767 0

Maximum integrator step enc_cnts/ms 0 to 1000 0

Velocity feedforward DAC_counts
enc_cnts/ms 0 to 1000 0

Acceleration feedforward DAC_counts
enc_cnts/ms 0 to 100,000 0

Static friction feedforward

Filter Configuration none 0, 1, 2, 3

DAC output filter

none

0, 1, 2

0 (disabled)

S-A: Skew error gain (only used for split-axis configuration) 0 to 2.147484E+09

S-A: Skew deriv gain (only used for split-axis configuration)

1 For velocity-style amplifiers, range can be 0 to 1.

Servo Tuning Parameters for Robot Number __ Motor Number __
Parameter	Units	Usual Range	Suggested Initial Value	Your Value
Proportional gain (DC gain)	DAC_counts enc_cnt	1 to 100	1
Proportional zero	none	0.8 to 0.99 1	0.98
Proportional pole	none	0 to 0.8	0
Integral gain	DAC_counts enc_cnts * ms	0.01 to 50	0
Maximum integrator value	DAC counts	0 to 32767	0
Maximum integrator step	enc_cnts/ms	0 to 1000	0
Velocity feedforward	DAC_counts enc_cnts/ms	0 to 1000	0
Acceleration feedforward	DAC_counts enc_cnts/ms	0 to 100,000	0
Static friction feedforward
Filter Configuration	none	0, 1, 2, 3
DAC output filter	none	0, 1, 2	0 (disabled)
S-A: Skew error gain (only used for split-axis configuration)		0 to 2.147484E+09
S-A: Skew deriv gain (only used for split-axis configuration)
1 For velocity-style amplifiers, range can be 0 to 1.