U511 User’s Manual Tuning Servo Loops
Version 1.1 Aerotech, Inc. 8-13
Figure 8-6. Autotune Plot Where “Dist” Has Been Set Too Low
Figure 8-7 shows an autotune plot where the distance is too large. The plot shows that the
torque output becomes clipped at 10V. This stage should be re-tuned with the Dist
decreased, so that the torque output is no longer clipped.
Figure 8-7. Autotune Plot Where “Dist” Has Been Set Too High
Figure 8-8 shows a proper autotuning procedure. Both the torque and velocity commands
are sinusoidal and the torque output peak is greater than one volt. A resulting plot similar
to this should identify the parameters of the motor/stage and produce gains that will allow
the stage to be run adequately.
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