Linear Shaft Motor Tuning

Complete all steps on this page before proceeding to the next topic.

The axis must be Enabled to perform Auto Tune. Auto Tune cannot be performed unless both the hardware and software are enabled. See Enable Axis.

On this page

  1. Open I Loop Configuration
  2. Review Current Loop Parameters
  3. Auto Tune
  4. Monitor the Auto Tune Waveform
  5. Confirm Auto Tune Results
  6. Close Auto Tune 
  7. Verify Updated Gains
  8. Save Changes 


1.  Open the I Loop Configuration Screen

From the main amplifier screen, click the I Loop block to access the Current Loop configuration screen.
This opens the tuning interface where Peak Current, Continuous Current, Cp/Ci values, and automatic tuning options are available.


2.  Review Current Loop Parameters

The Current Loop Axis C window displays:

    • Peak Current Limit
    • I²T Time Limit
    • Continuous Current
    • Current Loop Offset
    • Cp / Ci gains
    • Drive Output mode (Maximize Smoothness or Maximize Speed)

These values are derived from the motor data previously entered.


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3.  Auto Tune

Click the Auto Tune button to start the automatic current loop tuning process.

The Auto Tune screen appears and begins testing the motor’s electrical response using controlled current signals.


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4.  Monitor the Auto Tune Waveform

During Auto Tune:

    • The live current waveform is displayed
    • Auto Tune Current is shown (example: 0.5 A)
    • The status bar indicates Auto Tune in progress.
    • Cp / Ci are updated dynamically as measurements are taken

Allow the procedure to complete without interruption.


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5.  Confirm Auto Tune Results

When Auto Tune finishes, a results window appears:

    • Cp (Proportional Gain)
    • Ci (Integral Gain)
    • Bandwidth (Hz)

Click OK to accept the tuned values.


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6.  Close the Auto Tune Screen

After confirming the results, click Close to return to the Current Loop screen.

The new Cp/Ci values is populated automatically.


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7.  Verify Updated Gains

In the Current Loop Axis C screen:

    • Confirm the Cp / Ci now match the Auto Tune results
    • Ensure all current limits and settings remain correct

This confirms Auto Tune applied the new tuning parameters.

8.  Save Changes to Flash

After tuning is complete:

    1. Return to the main CME toolbar
    2. Click the Download to Amplifier / Save to Flash button

This permanently stores the updated current loop gains in the drive.


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Continue to Scope Loop Verification -->