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Tuning guide YAPSC Tuning Tool PID Tuning Guide for YAPSC servo boards Abstract In this document you will see how to setup your YAPSC V or V versions Servomotor Controller using YTT This documents covers rapid description of YTT and PID tuning method usin

YAPSC Tuning Tool PID Tuning Guide for YAPSC servo boards Abstract In this document you will see how to setup your YAPSC V or V versions Servomotor Controller using YTT This documents covers rapid description of YTT and PID tuning method using the step response tool of YTT YAPSC Tuning Tool ?? Tuning Guide Page CTable Of Content YTT description ??Connection ? tab ??Parameters ? tab ??RT Monitor ? tab PID tuning theory Common terms Stability Overshoot PID tuning application Hardware setup PID Tuning P tuning I tuning D tuning Sum up Troubleshooting Inverted polarity Extra information From steps to rev From steps to mm in Units per Step Page YAPSC Tuning Tool ?? Tuning Guide C YTT description YTT is ordered in three tabs ??Connection ? ??Parameter ? and ??RT Monitor ? ??Connection ? tab In this tab you can choose the serial port you want to use to connect to the YAPSC board along with the model of the board Currently you can choose between V and V versions Illustration Connection Tab Once the connection is established you can use the two other tabs Note for the USB ProgKey users In the latest model the ProgKey allows you to remotely reset the board The board will be held in reset if you have not clicked on the ??Connect ? button Once connection established the blue LED of the ProgKey will turn dark reset mode disabled It can be really helpful during the ?rst setup while it's better to click the ??Connect ? button before plugging or unplugging the USB ProgKey onto a running YAPSC board if held in reset mode YAPSC will act as if completely unpowered ??Parameters ? tab This tab displays all the parameters of the board You will have a short description of each parameter if you hover it with your mouse YAPSC Tuning Tool ?? Tuning Guide Page CIllustration Parameters Tab All parameters are either ? Green parameter displayed is saved into the board ? orange parameter displayed is di ?erent from the one saved into the board Eg Illustration Modi ?ed parameters turn orange P has been modi ?ed but is not saved in the board while the displayed I and D values are the one saved in the board You have to save the parameters in the board by clicking ?? Write in board EEPROM ? for the board to use the new value of the parameter You must start by reading the board parameters before writing them ??RT Monitor ? tab This tab gives you access to ? ??Continuous sampling ? tool displays the boards' following error and output on the Page YAPSC Tuning Tool ?? Tuning Guide Cgraph Check the ??Automatic ? box and choose an update period to use ? ??Status ? box actual board's paramters board enabled following integral and derivate error command encoder feedback output level - ? ??Step impulse response ? box this will be our most useful tool for PID tuning Illustration RT Monitor Tab