Getting Started U511 User’s Manual
2-6 Aerotech, Inc. Version 1.1
2.6.3. Preliminary Servo Loop Setup
In the most general sense, control loops are systems that create output signals based on
(1) input signals and (2) a series of servo gains that define the output over a variety of
input criteria. These gains must be individually tailored to every unique application. The
process of manipulating these servo gains to provide the most desirable response is called
servo tuning. In UNIDEX 511 systems, servo loops are tuned using the servo gain
parameters.
In the UNIDEX 511 system, there are five tuning parameters associated with each axis.
Each set of servo tuning parameters must be properly configured before the associated
axis can be enabled. The five servo loop tuning parameters are listed in Table 2-1.
Table 2-1. Servo Loop Tuning Parameters
Abbr. Description/Function
“Kpos” Position Loop Gain
“Ki” Velocity Loop Integrator
“Kp” Velocity Loop Proportional Gain
“Vff” Velocity Feed Forward
“Aff” Acceleration Feed Forward
Servo loop tuning should be done with the motors fully loaded. Inertia,
momentum, gravity, friction, and other forces effect the response of the system.
Preliminary servo loop setup consists of enabling the axis and tuning the servo loop for
the desired performance. Information on UNIDEX 511 parameters can be found in
Chapter 4: Parameters. Information on servo loop tuning can be obtained from Chapter 8:
Servo Loop Tuning.
If Aerotech stages are ordered with your UNIDEX 511 controller, the servo loop
gain parameters will already be set from the factory.
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