Automatic AutoTuning of servos on new commissioning

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In reality, my recommendation, if you have a consistent mechanical system, would be to use preloaded soft tuning values (no speed/isq filters). This can be useful for a like a bearing run-in.

Building autotuning into the user interface is possible and now much easier with MC_BR_SetupController in ACP10.

My recommendation if you do any autotuning from the UI, is something similar that is recommended when doing the Autotune in the test window.

  1. run it multiple of times (5-20),
  2. calculate an average,
  3. ONLY use an autotuned value if all of the vales are with in a confidence factor (i.e. all values are with in 1-5% of each the average,
  4. and only use 75-90% of your autotuned value. (i.e. back off your tuning slightly).

I would not depend on your autotuning to provide the confidence you get from a tuning your axis with step motions and manual verification of lag error throughout those movements.