Preparing the Servo System for Operation

Before the servo system can move the servo motors, the servo controller's PID (Proportional, Integral, and Derivative) filter values and trajectory (acceleration and maximum velocity) values must be loaded, as explained in section 3.4. To date, the values used have been determined by trial and error, and because each mechanism is different in some way (different friction etc). these values are different from one ZP to the next.