CKD AxTools servo debugging software (EboDEX)

Click OK, the motor will start reciprocating motion, and the software will collect waveforms in real time and calculate the score (out of 100).

After the adjustment is completed, a "Point Table Results" dialog box will pop up, with blue cells representing the G1/G2 combination with high scores. Select a row and click Apply to write to the drive.

The new parameters can only take effect after disconnecting and reconnecting the power supply to EboDEX.

Safety reminder: Do not touch the motor or load during AI tuning to ensure there are no obstacles within the range of motion. If an exception occurs, click Cancel to restore the original parameters.

4.2 Auto Tuning and Semi Auto Tuning

For TS/MU/XS models, simpler automatic tuning can also be used:

In [Tuning] → Tuning, set the "Response Value" (1-32, the higher the rigidity, the stronger) and "Friction Load Compensation".

Click on Tuning Start, the motor will oscillate slightly and automatically calculate the gain.

If the G1/G2 of the drive panel is not 00, it will prompt to dial back to zero.

Semi automatic tuning is suitable for fine tuning after automatic tuning: manually enter the servo gain value in the Semi automatic dialog box, click Start, observe the speed waveform, and repeatedly correct until the waveform is smooth.

4.3 Manual parameter adjustment (Edit tab)

When it is necessary to directly modify PID parameters:

Go to [Edit] → Parameter setting, note: first execute "Reading" to read the current parameters of the drive to the editing area, otherwise it will display blank.

The parameters are divided into multiple pages (1-20, 21-51, I/O settings, 62-89, etc.). Common gain related parameters:

PRM67: Integral limiter

PRM72: Integral gain multiplier

PRM101/102: Gain 1/2 (MU type only)

Check the checkbox after each parameter, and then click Storage to write to the drive.

Core Debugging 2: Vibration Suppression and Digital Filter

When the rigidity of the load is low (such as belt drive, long cantilever structure), AVODEX is prone to resonance during high-speed start stop. AxTools provides low-pass filters (LPF) and notch filters (Notch Filter) to suppress vibrations at specific frequencies.

5.1 AI Filter Automatic Adjustment (TS/MU/XS Type)

This is the most convenient way:

【 Tuning 】 tab → AI Filter Adjustment.

Select the filter application mode:

Simultaneously using LPF and Notch (recommended)

Only LPF

Only Notch

Click on the Detail setting for detailed configuration:

Low pass cutoff frequency: can be fixed at 100Hz (safety priority), 200Hz (regular), 300Hz (response priority), or a custom value.

Upper and lower limits of notch frequency: for example, 50~500Hz.

Q-value (bandwidth): can be fixed or automatically calculated.

Resonance judgment criteria: strict (Many), normal (Normal), loose (Few).

Click OK to initiate the adjustment. The software will cause the motor to emit a random sweep frequency signal, analyze the resonance peak through FFT, and automatically set PRM62~65 (frequencies of two LPFs and two Notchs) and PRM70/71 (Q value).

After completion, the set values of each filter will be displayed, and clicking confirm will also require re powering on.

5.2 Manual FFT Analysis and Damping Adjustment (Monitor tab)

For experienced engineers, frequency response can be manually analyzed and filters can be set:

Switch to [Monitor] → AxFFT Function.

In the "Filter setting", enter the test gain (usually 500), check the filters to be enabled (up to three), set the notch frequency and Q value.

Select Test Mode Start, the software drives the motor to generate a random signal, and displays the gain frequency curve (logarithmic coordinate) in real time.

Observe the bulge (resonance peak) on the curve and record its frequency (e.g. 228Hz).

Click on 'Set filter' and fill in the frequency for Notch Filter 1 with a Q value of 1.0. Retest until the curve smoothly decreases (ideally -20dB/dec).

You can also enable Filter Response to preview the effect of the filter acting alone.

Attention: The low-pass cutoff frequency should not be lower than 80Hz, otherwise it may cause system instability. If the resonance is very severe, the mechanical structure should be reinforced first.

Program and Parameter Editing (Edit tab)

6.1 Three Editing Methods for NC Programs

AxTools supports three programming modes: standard NC code, equal segment program, and table program.

1. NC code editing

Click on Program → select program number (0~999).

Support G code (positioning, continuous rotation, return to origin, coordinate system setting, etc.) and M code (program stop, subroutine call, brake control, I/O output).

Common command examples:

G01 A90.0 F10- Absolute positioning to 90 degrees at a speed of 10rpm

G07 A+50- Clockwise 50rpm continuous rotation

G04 P0.5- Pause for 0.5 seconds

M98 P100- Call subroutine 100

After completing the input, click Confirm and the program will be saved in the editing workspace.

2. Segmented program

Used for scenarios such as rotating indexing tables: setting the number of segments (1-255), each segment's motion time, direction, starting position (origin or current value), etc., the software automatically generates equidistant motion commands.