Tuning velocity controller - Revision history

Tero K at 20:54, 28 August 2015

2015-08-28T20:54:22Z

Tero K: /* Tuning protocol */

2015-08-28T20:52:29Z

‎Tuning protocol

Tero K: /* Preparations */

2015-08-28T20:51:43Z

‎Preparations

Tero K: Text replacement - "/}}" to "}}"

2015-08-28T20:01:58Z

Text replacement - "/}}" to "}}"

Tero K: Text replacement - "{{/param\|" to "{{param|"

2015-08-28T20:00:39Z

Text replacement - "{{/param\|" to "{{param|"

Tero K: Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{/param\|\1/}}"

2015-08-28T19:58:52Z

Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{/param\|\1/}}"

Tero K: /* Current/torque saturation */

2015-06-29T09:52:49Z

‎Current/torque saturation

Tero K at 09:51, 29 June 2015

2015-06-29T09:51:39Z

Tero K: /* Steps to do after tuning finished */

2015-06-16T13:42:54Z

‎Steps to do after tuning finished

Tero K: /* Steps to do after tuning finished */

2015-06-16T13:42:17Z

‎Steps to do after tuning finished

@@ Line 60: / Line 60: @@
 [[File:Veltuning5.png|800px]]
-If {{param|KVP}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP}} gain as described earlier.
+If {{param|KVP}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP}} as described earlier.
 [[File:velocitylowgain.png|800px]]
@@ Line 67: / Line 67: @@
 ====Advanced tuning: Feed-forwards====
-[[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. Feed-forward gains {{param|VFF}} and {{param|AFF}} essentially compensate system friction and mass limiting the dynamic performance.
+[[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. {{param|VFF}} and {{param|AFF}} essentially compensate system friction and mass limiting the dynamic performance.
-The recommended way to tune FF gains, is to start increasing velocity feed-forward {{param|VFF}} until the optimum level has been found. After that, increase acceleration feed-forward {{param|AFF}} until the optimum point has been reached.
+The recommended way to tune FF gains, is to start increasing {{param|VFF}} until the optimum level has been found. After that, increase {{param|AFF}} until the optimum point has been reached.
 [[File:velocitylowgainff.png|800px]]
@@ Line 87: / Line 87: @@
 The image above shows acceleration limited by insufficient torque produced by the motor. In this example the acceleration limit is set too high to be accelerated with the given motor torque limits (or current limits).
-To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set peak current limit {{param|MMC}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{param|MMC}} value of 5A in this demonstration.
+To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set  {{param|MMC}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{param|MMC}} value of 5A in this demonstration.
 To help this, try:
 *Increasing current limits {{param|MMC}} and {{param|MCC}} if possible
-*Reducing acceleration {{param|CAL}} and/or velocity {{param|CVL}} limits
+*Reducing {{param|CAL}} and/or {{param|CVL}} limits
 ====Oscillation====
@@ Line 104: / Line 104: @@
 ===Steps to do after tuning finished===
 *Stop test stimulus by unticking {{param|TSE}}
-*Stop scope catpure by unticking ''Continuously repeating capture''
+*Stop scope capture by unticking ''Continuously repeating capture''
 *Undo all temporary changes made to settings
 *Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button

@@ Line 43: / Line 43: @@
 [[File:Veltuning4.png|800px]]
-Begin tuning by increasing {{param|KVP}} gain. This makes motor follow velocty setpoint much better.
+Begin tuning by increasing {{param|KVP}}. This makes motor follow velocity setpoint much better.
 To try different gains, go to Tuning tab, change value and click the Apply settings button.

@@ Line 15: / Line 15: @@
 **Choose ''Serial only'' setpoint input {{param|CM}}
 **Make other necessary adjustments to have drive powered and enabled
-**Untick Setpoint smoothing {{param|CIS}}
+**Untick {{param|CIS}}
 **Set Goals tab {{param|DIV}} and {{param|MUL}} to 50
-**Set acceleration {{param|CAL}} & velocity {{param|CVL}} limits reasonably to the levels that motor is expected to handle
+**Set {{param|CAL}} & {{param|CVL}} reasonably to the levels that motor is expected to handle
 *Set-up the test stimulus and capture settings from Testing tab (an example, may be varied):
 **Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via {{param|CVL}})
@@ Line 23: / Line 23: @@
 **Set target setpoint 2 [[TSP2]] to same, but ''negative'', value of TSP1
 **Set delay1 [[STD2]] to 0.25 s
-**Choose sample rate {{param|TSR}} of 500 to 2500 Hz
+**Choose {{param|TSR}} of 500 to 2500 Hz
 **Choose ''Capture setpoint change in positive direction'' from the dropdown
 **''Tick Continuously repeating capture''
 **Tick ''Velocity setpoint'' and ''Velocity achieved'' from signals
 **Tick ''Start capture'' to begin continous capture.
-**Tick Enable test stimulus {{param|TSE}} to begin a continuous position back and forth spinning motion generation
+**Tick {{param|TSE}} to begin a continuous position back and forth spinning motion generation
 Once the steps above are done, motor should be generating direction reversing spinning and velocity response graphs should appear on the right side of Granity about once in 3-5 seconds.

@@ Line 12: / Line 12: @@
 *Attach motor to the target load and ensure it can rotate in both directions '''infinitely'''
 *Make following parameter changes to Granity and click apply afterwards:
-**Set drive in velocity control mode {{param|CM/}}
+**Set drive in velocity control mode {{param|CM}}
-**Choose ''Serial only'' setpoint input {{param|CM/}}
+**Choose ''Serial only'' setpoint input {{param|CM}}
 **Make other necessary adjustments to have drive powered and enabled
-**Untick Setpoint smoothing {{param|CIS/}}
+**Untick Setpoint smoothing {{param|CIS}}
-**Set Goals tab {{param|DIV/}} and {{param|MUL/}} to 50
+**Set Goals tab {{param|DIV}} and {{param|MUL}} to 50
-**Set acceleration {{param|CAL/}} & velocity {{param|CVL/}} limits reasonably to the levels that motor is expected to handle
+**Set acceleration {{param|CAL}} & velocity {{param|CVL}} limits reasonably to the levels that motor is expected to handle
 *Set-up the test stimulus and capture settings from Testing tab (an example, may be varied):
-**Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via {{param|CVL/}})
+**Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via {{param|CVL}})
 **Set delay 1 [[TSD1]] to 0.25 seconds
 **Set target setpoint 2 [[TSP2]] to same, but ''negative'', value of TSP1
 **Set delay1 [[STD2]] to 0.25 s
-**Choose sample rate {{param|TSR/}} of 500 to 2500 Hz
+**Choose sample rate {{param|TSR}} of 500 to 2500 Hz
 **Choose ''Capture setpoint change in positive direction'' from the dropdown
 **''Tick Continuously repeating capture''
 **Tick ''Velocity setpoint'' and ''Velocity achieved'' from signals
 **Tick ''Start capture'' to begin continous capture.
-**Tick Enable test stimulus {{param|TSE/}} to begin a continuous position back and forth spinning motion generation
+**Tick Enable test stimulus {{param|TSE}} to begin a continuous position back and forth spinning motion generation
 Once the steps above are done, motor should be generating direction reversing spinning and velocity response graphs should appear on the right side of Granity about once in 3-5 seconds.
@@ Line 43: / Line 43: @@
 [[File:Veltuning4.png|800px]]
-Begin tuning by increasing {{param|KVP/}} gain. This makes motor follow velocty setpoint much better.
+Begin tuning by increasing {{param|KVP}} gain. This makes motor follow velocty setpoint much better.
 To try different gains, go to Tuning tab, change value and click the Apply settings button.
@@ Line 50: / Line 50: @@
 [[File:Veltuning3.png|800px]]
-When {{param|KVP/}} has been increased too much, the system becomes unstable and may start oscillating. In such case, you may hit Esc button to disable drive, reduce the gain and enable drive again.
+When {{param|KVP}} has been increased too much, the system becomes unstable and may start oscillating. In such case, you may hit Esc button to disable drive, reduce the gain and enable drive again.
-Tip: torque bandwidth has significant effect on the behavior of KVP value and the point where it goes unstable. One may experiment different {{param|TBW/}} settings to find the optimum.
+Tip: torque bandwidth has significant effect on the behavior of KVP value and the point where it goes unstable. One may experiment different {{param|TBW}} settings to find the optimum.
 [[File:Veltuning6.png|800px]]
-Once a maximum perfectly stable {{param|KVP/}} value has been found, start increasing {{param|KVI/}} gain by a similar fashion. The higher KVI value is, the better servo stiffness.
+Once a maximum perfectly stable {{param|KVP}} value has been found, start increasing {{param|KVI}} gain by a similar fashion. The higher KVI value is, the better servo stiffness.
 [[File:Veltuning5.png|800px]]
-If {{param|KVP/}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP/}} gain as described earlier.
+If {{param|KVP}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP}} gain as described earlier.
 [[File:velocitylowgain.png|800px]]
@@ Line 67: / Line 67: @@
 ====Advanced tuning: Feed-forwards====
-[[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. Feed-forward gains {{param|VFF/}} and {{param|AFF/}} essentially compensate system friction and mass limiting the dynamic performance.
+[[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. Feed-forward gains {{param|VFF}} and {{param|AFF}} essentially compensate system friction and mass limiting the dynamic performance.
-The recommended way to tune FF gains, is to start increasing velocity feed-forward {{param|VFF/}} until the optimum level has been found. After that, increase acceleration feed-forward {{param|AFF/}} until the optimum point has been reached.
+The recommended way to tune FF gains, is to start increasing velocity feed-forward {{param|VFF}} until the optimum level has been found. After that, increase acceleration feed-forward {{param|AFF}} until the optimum point has been reached.
 [[File:velocitylowgainff.png|800px]]
@@ Line 87: / Line 87: @@
 The image above shows acceleration limited by insufficient torque produced by the motor. In this example the acceleration limit is set too high to be accelerated with the given motor torque limits (or current limits).
-To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set peak current limit {{param|MMC/}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{param|MMC/}} value of 5A in this demonstration.
+To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set peak current limit {{param|MMC}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{param|MMC}} value of 5A in this demonstration.
 To help this, try:
-*Increasing current limits {{param|MMC/}} and {{param|MCC/}} if possible
+*Increasing current limits {{param|MMC}} and {{param|MCC}} if possible
-*Reducing acceleration {{param|CAL/}} and/or velocity {{param|CVL/}} limits
+*Reducing acceleration {{param|CAL}} and/or velocity {{param|CVL}} limits
 ====Oscillation====
@@ Line 103: / Line 103: @@
 ===Steps to do after tuning finished===
-*Stop test stimulus by unticking {{param|TSE/}}
+*Stop test stimulus by unticking {{param|TSE}}
 *Stop scope catpure by unticking ''Continuously repeating capture''
 *Undo all temporary changes made to settings
 *Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button
-*Set preferred setpoint source {{param|CRI/}}, also consider the use of {{param|CIS/}}
+*Set preferred setpoint source {{param|CRI}}, also consider the use of {{param|CIS}}
-*If setpoint signal scaling is needed, adjust {{param|MUL/}} and {{param|DIV/}} values
+*If setpoint signal scaling is needed, adjust {{param|MUL}} and {{param|DIV}} values
-{{tip|'''Important:''' if drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like [[Mach3]] or [[LinuxCNC]], then its highly recommended to increase acceleration limit {{param|CAL/}} to the maximum value of 32767 to prevent drive's internal acceleration limiter modifying the trajectory. Instead, set acceleration limit from the controller (i.e. settings of CNC software).}}
+{{tip|'''Important:''' if drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like [[Mach3]] or [[LinuxCNC]], then its highly recommended to increase acceleration limit {{param|CAL}} to the maximum value of 32767 to prevent drive's internal acceleration limiter modifying the trajectory. Instead, set acceleration limit from the controller (i.e. settings of CNC software).}}
 ==Using drive in velocity control mode==

@@ Line 12: / Line 12: @@
 *Attach motor to the target load and ensure it can rotate in both directions '''infinitely'''
 *Make following parameter changes to Granity and click apply afterwards:
-**Set drive in velocity control mode {{/param\|CM/}}
+**Set drive in velocity control mode {{param|CM/}}
-**Choose ''Serial only'' setpoint input {{/param\|CM/}}
+**Choose ''Serial only'' setpoint input {{param|CM/}}
 **Make other necessary adjustments to have drive powered and enabled
-**Untick Setpoint smoothing {{/param\|CIS/}}
+**Untick Setpoint smoothing {{param|CIS/}}
-**Set Goals tab {{/param\|DIV/}} and {{/param\|MUL/}} to 50
+**Set Goals tab {{param|DIV/}} and {{param|MUL/}} to 50
-**Set acceleration {{/param\|CAL/}} & velocity {{/param\|CVL/}} limits reasonably to the levels that motor is expected to handle
+**Set acceleration {{param|CAL/}} & velocity {{param|CVL/}} limits reasonably to the levels that motor is expected to handle
 *Set-up the test stimulus and capture settings from Testing tab (an example, may be varied):
-**Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via {{/param\|CVL/}})
+**Set target setpoint 1 [[TSP1]] between 1000 and 16383 (16383 equals the max speed that is configured via {{param|CVL/}})
 **Set delay 1 [[TSD1]] to 0.25 seconds
 **Set target setpoint 2 [[TSP2]] to same, but ''negative'', value of TSP1
 **Set delay1 [[STD2]] to 0.25 s
-**Choose sample rate {{/param\|TSR/}} of 500 to 2500 Hz
+**Choose sample rate {{param|TSR/}} of 500 to 2500 Hz
 **Choose ''Capture setpoint change in positive direction'' from the dropdown
 **''Tick Continuously repeating capture''
 **Tick ''Velocity setpoint'' and ''Velocity achieved'' from signals
 **Tick ''Start capture'' to begin continous capture.
-**Tick Enable test stimulus {{/param\|TSE/}} to begin a continuous position back and forth spinning motion generation
+**Tick Enable test stimulus {{param|TSE/}} to begin a continuous position back and forth spinning motion generation
 Once the steps above are done, motor should be generating direction reversing spinning and velocity response graphs should appear on the right side of Granity about once in 3-5 seconds.
@@ Line 43: / Line 43: @@
 [[File:Veltuning4.png|800px]]
-Begin tuning by increasing {{/param\|KVP/}} gain. This makes motor follow velocty setpoint much better.
+Begin tuning by increasing {{param|KVP/}} gain. This makes motor follow velocty setpoint much better.
 To try different gains, go to Tuning tab, change value and click the Apply settings button.
@@ Line 50: / Line 50: @@
 [[File:Veltuning3.png|800px]]
-When {{/param\|KVP/}} has been increased too much, the system becomes unstable and may start oscillating. In such case, you may hit Esc button to disable drive, reduce the gain and enable drive again.
+When {{param|KVP/}} has been increased too much, the system becomes unstable and may start oscillating. In such case, you may hit Esc button to disable drive, reduce the gain and enable drive again.
-Tip: torque bandwidth has significant effect on the behavior of KVP value and the point where it goes unstable. One may experiment different {{/param\|TBW/}} settings to find the optimum.
+Tip: torque bandwidth has significant effect on the behavior of KVP value and the point where it goes unstable. One may experiment different {{param|TBW/}} settings to find the optimum.
 [[File:Veltuning6.png|800px]]
-Once a maximum perfectly stable {{/param\|KVP/}} value has been found, start increasing {{/param\|KVI/}} gain by a similar fashion. The higher KVI value is, the better servo stiffness.
+Once a maximum perfectly stable {{param|KVP/}} value has been found, start increasing {{param|KVI/}} gain by a similar fashion. The higher KVI value is, the better servo stiffness.
 [[File:Veltuning5.png|800px]]
-If {{/param\|KVP/}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{/param\|KVP/}} gain as described earlier.
+If {{param|KVP/}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP/}} gain as described earlier.
 [[File:velocitylowgain.png|800px]]
@@ Line 67: / Line 67: @@
 ====Advanced tuning: Feed-forwards====
-[[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. Feed-forward gains {{/param\|VFF/}} and {{/param\|AFF/}} essentially compensate system friction and mass limiting the dynamic performance.
+[[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. Feed-forward gains {{param|VFF/}} and {{param|AFF/}} essentially compensate system friction and mass limiting the dynamic performance.
-The recommended way to tune FF gains, is to start increasing velocity feed-forward {{/param\|VFF/}} until the optimum level has been found. After that, increase acceleration feed-forward {{/param\|AFF/}} until the optimum point has been reached.
+The recommended way to tune FF gains, is to start increasing velocity feed-forward {{param|VFF/}} until the optimum level has been found. After that, increase acceleration feed-forward {{param|AFF/}} until the optimum point has been reached.
 [[File:velocitylowgainff.png|800px]]
@@ Line 87: / Line 87: @@
 The image above shows acceleration limited by insufficient torque produced by the motor. In this example the acceleration limit is set too high to be accelerated with the given motor torque limits (or current limits).
-To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set peak current limit {{/param\|MMC/}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{/param\|MMC/}} value of 5A in this demonstration.
+To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set peak current limit {{param|MMC/}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{param|MMC/}} value of 5A in this demonstration.
 To help this, try:
-*Increasing current limits {{/param\|MMC/}} and {{/param\|MCC/}} if possible
+*Increasing current limits {{param|MMC/}} and {{param|MCC/}} if possible
-*Reducing acceleration {{/param\|CAL/}} and/or velocity {{/param\|CVL/}} limits
+*Reducing acceleration {{param|CAL/}} and/or velocity {{param|CVL/}} limits
 ====Oscillation====
@@ Line 103: / Line 103: @@
 ===Steps to do after tuning finished===
-*Stop test stimulus by unticking {{/param\|TSE/}}
+*Stop test stimulus by unticking {{param|TSE/}}
 *Stop scope catpure by unticking ''Continuously repeating capture''
 *Undo all temporary changes made to settings
 *Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button
-*Set preferred setpoint source {{/param\|CRI/}}, also consider the use of {{/param\|CIS/}}
+*Set preferred setpoint source {{param|CRI/}}, also consider the use of {{param|CIS/}}
-*If setpoint signal scaling is needed, adjust {{/param\|MUL/}} and {{/param\|DIV/}} values
+*If setpoint signal scaling is needed, adjust {{param|MUL/}} and {{param|DIV/}} values
-{{tip|'''Important:''' if drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like [[Mach3]] or [[LinuxCNC]], then its highly recommended to increase acceleration limit {{/param\|CAL/}} to the maximum value of 32767 to prevent drive's internal acceleration limiter modifying the trajectory. Instead, set acceleration limit from the controller (i.e. settings of CNC software).}}
+{{tip|'''Important:''' if drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like [[Mach3]] or [[LinuxCNC]], then its highly recommended to increase acceleration limit {{param|CAL/}} to the maximum value of 32767 to prevent drive's internal acceleration limiter modifying the trajectory. Instead, set acceleration limit from the controller (i.e. settings of CNC software).}}
 ==Using drive in velocity control mode==

@@ Line 82: / Line 82: @@
 ====Current/torque saturation====
 In the following test we run motor with higher speeds (TSPn > 10000) to illustrate a typical problem case.
 [[File:currentsaturatin.png|800px]]
@@ Line 91: / Line 92: @@
 *Increasing current limits [[MMC]] and [[MCC]] if possible
 *Reducing acceleration [[CAL]] and/or velocity [[CVL]] limits
 ====Oscillation====
 [[File:velocityunstable.png|800px]]

@@ Line 1: / Line 1: @@
-Velocity controller tuning means finding the correct drive settings and feedback gain values to achieve a proper [[Servo stiffness]] and response to a velocity [[Setpoint signal|setpoint]] change.
+{{parent|Servo motor tuning guide}}Velocity controller tuning means finding the correct drive settings and feedback gain values to achieve a proper [[Servo stiffness]] and response to a velocity [[Setpoint signal|setpoint]] change.
 This tuning guide is for you if the final application uses the motor in velocity [[Control modes|control mode]] such as spindle or as position mode with external closed loop position controller such as [[LinuxCNC]].
@@ Line 112: / Line 112: @@
 ==Using drive in velocity control mode==
 If velocity control mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of velocity setpoint scale.
-[[category:Granity user guide]]
-[[category:Tuning guide]]
+[[Category:Tuning_guide]]

@@ Line 108: / Line 108: @@
 *If setpoint signal scaling is needed, adjust [[MUL]] and [[DIV]] values
-{{tip|'''Important:''' if drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like [[Mach3]] or [[LinuxCNC]], then its highly recommended to increase acceleration limit [[CAL]] to the maximum value of 32767 and disable setpoint smoothing [[CIS]] to prevent drive's internal acceleration limiter modifying the trajectory. Instead, set acceleration limit from the controller (i.e. settings of CNC software).}}
+{{tip|'''Important:''' if drive will be controlled by an external motion [[controller]] with acceleration & velocity limits, such as CNC controller programs like [[Mach3]] or [[LinuxCNC]], then its highly recommended to increase acceleration limit [[CAL]] to the maximum value of 32767 to prevent drive's internal acceleration limiter modifying the trajectory. Instead, set acceleration limit from the controller (i.e. settings of CNC software).}}
 ==Using drive in velocity control mode==