Tuning

Parameter Tuning #

Requirements #

Electrical Parameters #

DC Motor #

Manual Tuning #

conf0.r # motor phase resistance
conf0.l # motor phase inductance
conf0.psi # torque constant [Nm/A] or [V/rad/s]
conf0.mot_fb_rev

Auto Tuning #

This takes about 20 seconds. Disconnect the motor from the load. The motor will turn with a max velocity of iddc0.test_vel (rad/s) and apply a max current of iddc0.test_cur (A). Follow the green instructions in Servoterm:

  • Set your config to:
link pid
link dc
link <your_feedback_type>
link misc
link id_dc
  • Reset STMBL by typing:
reset
  • Start the tuning by typing:
fault0.en = 1
  • Lock the rotor and type:
iddc0.state = 1.2
  • Unlock the rotor and type:
iddc0.state = 2.2

PMSM Motor #

Manual Tuning #

conf0.r # motor phase resistance
conf0.l # motor phase inductance
conf0.polecount # number of pole pairs
conf0.mot_fb_offset
conf0.out_rev
conf0.psi # torque constant [Nm/A] or [V/rad/s]

Auto Tuning #

This takes about 20 seconds. Disconnect the motor from the load. The motor will turn with a max velocity of idpmsm0.test_vel (rad/s) and apply a max current of idpmsm0.test_cur (A). Follow the green instructions in Servoterm:

  • Set your config to:
link pid
link pmsm
link <your_feedback_type>
link misc
link id_pmsm
  • Reset STMBL by typing:
reset
  • Start the tuning by typing:
fault0.en = 1
  • Append the result (conf0.r, conf0.l, conf0.psi, conf0.polecount, conf0.mot_fb_offset, opt. conf0.out_rev) to your config.
  • Go to Motor Mechanical Parameters.

Motor Mechanical Parameters #

Manual Tuning #

conf0.j

Auto Tuning #

This takes about 2 minutes. Disconnect the motor from the load. The motor will move between idm0.min_pos (rad) and idm0.max_pos (rad) with a max velocity of idm0.max_vel (rad/s) and a max acceleration of idm0.max_acc (rad/s^2). Follow the green instructions in Servoterm:

  • Set your config to:
link pid
link <your_motor_type>
link <your_feedback_type>
link misc
link id_mot
<your_electrical_parameters>
  • Reset STMBL by typing:
reset
  • Start the tuning by typing:
fault0.en = 1

System Mechanical Parameters #

You can skip this step if you want to tune the motor without load.

Manual Tuning #

conf0.j_sys
conf0.j_lpf

Auto Tuning #

This takes about 2 minutes. Connect the motor to the load. The motor will move between idm0.min_pos (rad) and idm0.max_pos (rad) with a max velocity of idm0.max_vel (rad/s) and a max acceleration of idm0.max_acc (rad/s^2). Follow the green instructions in Servoterm:

  • Set your config to:
link pid
link <your_motor_type>
link <your_feedback_type>
link misc
link id_sys
<your_electrical_parameters>
<your_mechanical_parameters>
  • Reset STMBL by typing:
reset
  • Start the tuning by typing:
fault0.en = 1
  • Append the result (conf0.j_sys, conf0.d, conf0.f, conf0.o) to your config.
  • Go to Control Loop Tuning.

Control Loop Tuning #

Manual Tuning #

conf0.pos_bw
conf0.vel_bw
conf0.vel_d

Auto Tuning #

This takes about 2 minutes. Connect the motor to the load. The motor will move between ids0.min_pos (rad) and ids0.max_pos (rad) with a max velocity of ids0.max_vel (rad/s) and a max acceleration of ids0.max_acc (rad/s^2). Follow the green instructions in Servoterm:

  • Set your config to:
link pid
link <your_motor_type>
link <your_feedback_type>
link misc
link id_pid
<your_electrical_parameters>
<your_mechanical_parameters>
  • Reset STMBL by typing:
reset
  • Start the tuning by typing:
fault0.en = 1
  • Append the result (conf0.pos_bw, conf0.vel_bw, conf0.vel_d) to your config.
  • Go to Cmd.
February 24, 2025