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Servo Device Tuning
Servo devices use a control loop in order to drive their motors
and use encoder feedback to inform the control loop. The default
parameters used in the control loop (which the device uses
when it’s powered on for the first time) are optimized for good
performance with no load added to the stage. These parameters
should also work with some load mounted to the stage. You can
tune the parameters of the control loop to adjust the smoothness,
accuracy, and responsiveness of the performance.
In order to make tuning as simple as possible, Zaber provides a
servo tuning tool within Zaber Console. Complete documentation
on the tool is available at
www.zaber.com/ServoTuning
.
To use the tool, first make sure Zaber Console is installed and the
device is powered and connected. If a servo device is detected when
you open the port in Zaber Console, you will be asked if you want to
add the Servo Tuning tool to the Tab Dock (if it’s not already present).
Use caution when adjusting parameters; it’s possible to enter
values that will cause the device to become unstable and move
erratically. If this occurs, press the ‘Disable Driver’ button to stop
current to the motor and stop driven motion. The parameters can
then be adjusted to be more stable or returned to default values.
Press ‘Enable Driver’ to resume driven motion.
I/Os & Triggers
Some Zaber controllers have configurable digital and analog inputs
and digital outputs. While these controllers can be used to interact
with a variety of devices, care should be taken when setting up the
circuit to which they are connected. The product manuals for these
controllers on our Support page will include usage instructions and
sample circuit diagrams:
www.zaber.com/support
The inputs and outputs can be configured to either trigger actions
on the controller or to be triggered by certain conditions. These
triggers can also be configured on devices without I/O’s available.
More information on how to set up these triggers is available in our
ASCII protocol manual:
www.zaber.com/manuals/ASCIITriggers
Please contact Customer Support if you have any questions about
setting up your circuit.
