{"id":40486,"date":"2026-01-28T08:36:00","date_gmt":"2026-01-28T13:36:00","guid":{"rendered":"https:\/\/www.dmcinfo.com\/?p=40486"},"modified":"2026-01-26T14:03:32","modified_gmt":"2026-01-26T19:03:32","slug":"magnemotion-guide-part-11-tuning","status":"publish","type":"post","link":"https:\/\/www.dmcinfo.com\/blog\/40486\/magnemotion-guide-part-11-tuning\/","title":{"rendered":"MagneMotion Guide Part 11: Tuning"},"content":{"rendered":"\n<p>In the\u00a0previous\u00a0article\u00a0in this series,\u00a0<a href=\"https:\/\/www.dmcinfo.com\/blog\/15796\/magnemotion-guide-part-10-moving-track\/\">MagneMotion\u00a0Guide\u00a0Part 10: Moving Track<\/a>,\u00a0we discussed handling moving path nodes for\u00a0MagneMotion\u00a0Quickstick\u00a0systems. In this article,\u00a0we\u2019ll\u00a0discuss the advantages of tuning your\u00a0MagneMotion\u00a0system and general good practices for tuning\u00a0MagneMotion.\u00a0<\/p>\n\n\n\n<p><strong>MagneMotion Guide Series<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10220\/magnemotion-guide-part-one-creating-configuration-files\">MagneMotion Guide Part 1: Creating Configuration Files<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10244\/magnemotion-guide-part-two-starting-up-and-commissioning-a-track\">MagneMotion Guide Part 2: Starting up and Commissioning a Track<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10270\/magnemotion-guide-part-three-controlling-a-system-with-a-plc\">MagneMotion Guide Part 3: Controlling a System with a PLC<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10289\/magnemotion-guide-part-4-using-path-and-station-aois\">MagneMotion Guide Part 4: Using Path and Station AOI\u2019s<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10293\/magnemotion-guide-part-5-alternative-routing-controls\">MagneMotion Guide Part 5: Alternative Routing Controls<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10304\/magnemotion-guide-part-6-track-recovery-considerations\">MagneMotion Guide Part 6: Track Recovery Considerations<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10371\/magnemotion-blog-part-7-traffic-lights\">MagneMotion Guide\u00a0Part 7: Traffic Lights<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10387\/magnemotion-guide-part-8-simulation\">MagneMotion Guide Part 8: Simulation<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/latest-thinking\/blog\/id\/10558\/magnemotion-guide-part-9-traffic-jam-prevention\">MagneMotion Guide Part 9: Traffic Jam Prevention<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/www.dmcinfo.com\/blog\/15796\/magnemotion-guide-part-10-moving-track\/\">MagneMotion\u00a0Guide\u00a0Part 10: Moving Track<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-what-is-tuning\">What is Tuning?<\/h2>\n\n\n\n<p>Tuning is the process of adjusting the parameters of your system that control the motion profiles used to turn motion commands (i.e.,\u00a0move this vehicle to this position) into mechanical movement. In the case of\u00a0MagneMotion,\u00a0tuning usually involves adjusting the Control Loop Parameters in the configuration file along with other advanced parameters that handle the system response to vehicles being out of position.\u00a0<\/p>\n\n\n\n<p>While some systems have automatic tuning processes,\u00a0MagneMotion\u00a0tuning is a very iterative process. Typically,\u00a0you\u2019ll\u00a0adjust tuning parameters before running your track, make observations about the current track behavior, and then\u00a0iterate on\u00a0the parameters again\u00a0until system performance meets application requirements.\u00a0<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-benefits-of-tuning\">Benefits of Tuning<\/h2>\n\n\n\n<p>There can be several&nbsp;different reasons&nbsp;why you would want to&nbsp;tune&nbsp;your system. The first is to ensure that vehicle motion is smooth.&nbsp;A properly tuned&nbsp;system will reduce vibrations and jerky movements from vehicle motion.&nbsp;<\/p>\n\n\n\n<p>Tuning can also be useful in increasing the overall throughput of your system. Mistuned vehicles can take longer to get up to speed or might slightly overshoot their&nbsp;targets,&nbsp;causing delays as they need to correct their positions.&nbsp;<\/p>\n\n\n\n<p>Similarly,&nbsp;tuning can also considerably reduce the current draw and thermal load on your&nbsp;MagneMotion&nbsp;motors. When a vehicle is moving smoothly and&nbsp;precisely,&nbsp;there is less need for the motors to draw an excessive amount of current to correct the vehicle\u2019s positioning.&nbsp;<\/p>\n\n\n\n<p>Before you begin&nbsp;tuning&nbsp;your&nbsp;system,&nbsp;it is important to consider what your priorities are in tuning.&nbsp;A&nbsp;system tuned to&nbsp;optimize&nbsp;speed and responsiveness may look different from a system tuned to reduce thermal load.&nbsp;<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-configuration-file-adjustments\">Configuration File Adjustments<\/h2>\n\n\n\n<p><em>See\u00a0<a href=\"https:\/\/www.dmcinfo.com\/blog\/19352\/magnemotion-guide-part-1-creating-configuration-files\/\">MagneMotion\u00a0Guide Part 1: Creating Configuration Files<\/a> for\u00a0additional\u00a0details.<\/em><\/p>\n\n\n\n<p>The relevant parameters for\u00a0MagneMotion\u00a0tuning are found in the motor defaults section of the track. While you can adjust these parameters on a per motor\u00a0basis,\u00a0it\u2019s\u00a0usually\u00a0a good idea\u00a0to adjust them on a per path basis to keep vehicle motion consistent across your track.\u00a0<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"624\" height=\"120\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172723\/magnemotion-tuning-1.png\" alt=\"MagneMotion parameters interface\" class=\"wp-image-40525\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172723\/magnemotion-tuning-1.png 624w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172723\/magnemotion-tuning-1-300x58.png 300w\" sizes=\"(max-width: 624px) 100vw, 624px\" \/><\/figure>\n\n\n\n<p>Here&nbsp;you can set up different sets of control parameters. To make use of a new set simply fill out the parameters and click the Enable check box. When commanding a vehicle to move (through NC Host or a controller) you can set the command to run at one of the PID sets configured here. Typically, it is&nbsp;a good idea&nbsp;to have a PID set for unloaded vehicles and another for vehicles that are loaded. Additional PID sets can be added, either to account for different load types or&nbsp;different types&nbsp;of moves along the track.&nbsp;<\/p>\n\n\n\n<p>Below is a quick description of each parameter used in a control set:&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>Parameter<\/strong><\/td><td><strong>Description<\/strong><\/td><td><strong>Increase Effect<\/strong><\/td><td><strong>Decrease Effect<\/strong><\/td><\/tr><tr><td>Mass (kg)<\/td><td>This is the mass in kilograms of the vehicle. This mass should include the mass of the puck, and nest\/fixture on the vehicle, and any load placed on the vehicle.\u00a0<\/td><td><\/td><td><\/td><\/tr><tr><td>Kp<\/td><td>This is\u00a0the proportional\u00a0gain. This controls the amount of force applied to the vehicle in response to the position error.<\/td><td>Can cause overshooting. Increases system responsiveness.<\/td><td>Reduces\u00a0overshoot. Reduces steady-state error.\u00a0Slows\u00a0system responsiveness.\u00a0<\/td><\/tr><tr><td>Ki<\/td><td>This is\u00a0the\u00a0integral gain. This controls the amount of force applied based on past values of the position error.<\/td><td>Can\u00a0cause overshooting and oscillation. Makes the system more responsive to errors over time.<\/td><td>Reduces\u00a0overshoot\u00a0and oscillation.<\/td><\/tr><tr><td>Kd<\/td><td>This is the derivative gain. This controls the amount of force applied based on the velocity error of the vehicle.<\/td><td>Reduces settling time. Decreases\u00a0overshoot. Large values can cause stability issues.<\/td><td>Increases\u00a0settling time. Increases\u00a0overshoot.<\/td><\/tr><tr><td>Kff(%)<\/td><td>This is the\u00a0feedforward scale. This controls the force used to achieve the desired acceleration based on the given mass.<\/td><td>Increases from 100% can cause the system to excessively accelerate the vehicle.<\/td><td>Decreases from 100% can cause the system to not accelerate quickly enough.\u00a0<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-tuning-process\">Tuning\u00a0Process<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-using-virtual-scope\">Using Virtual Scope<\/h3>\n\n\n\n<p>To&nbsp;properly tune&nbsp;a system, you will need to run a vehicle around your track while&nbsp;assessing&nbsp;whether&nbsp;the vehicle\u2019s behavior is improved after each adjustment to the system\u2019s control parameters&nbsp;<\/p>\n\n\n\n<p>While you can certainly do this by just\u00a0monitoring\u00a0the system,\u00a0MagneMotion\u00a0has created a tool to help gather more specific motion data called Virtual Scope.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"556\" height=\"348\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172754\/magnemotion-tuning-2.png\" alt=\"MagneMotion Virtual Scope tool\" class=\"wp-image-40526\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172754\/magnemotion-tuning-2.png 556w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172754\/magnemotion-tuning-2-300x188.png 300w\" sizes=\"(max-width: 556px) 100vw, 556px\" \/><\/figure>\n\n\n\n<p>The Virtual Scope tool gathers data about a vehicle\u2019s position error, velocity, and current use as it moves along a motor of your track.\u00a0<\/p>\n\n\n\n<p>To use Virtual Scope in your tuning process simply hit the setup button and input the IP address of your HLC controller along with the vehicle ID you are planning on tracking and the path and motor you are running your tuning tests over.&nbsp;<\/p>\n\n\n\n<p>Note that for a running system it can be tricky to line up a scope of a specific vehicle crossing a specific motor. Make use of NC Host\u2019s ability to track vehicle positions to&nbsp;setup&nbsp;a trace before the vehicle approaches the motor you are&nbsp;monitoring.&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"800\" height=\"629\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172816\/magnemotion-tuning-3.png\" alt=\"MagneMotion interface\" class=\"wp-image-40527\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172816\/magnemotion-tuning-3.png 800w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172816\/magnemotion-tuning-3-300x236.png 300w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172816\/magnemotion-tuning-3-768x604.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<p>When a profile is\u00a0captured,\u00a0you can select which parameters you wish to display. You can also choose to\u00a0set\u00a0up\u00a0a data capture to record the data from the scope into a .csv file for\u00a0additional\u00a0analysis.\u00a0<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-data-streams\">Data Streams<\/h2>\n\n\n\n<p>The Virtual Scope tools make use of data stream files to\u00a0determine\u00a0which data it is capturing from the\u00a0MagneMotion\u00a0motor. By default, virtual scope uses a data set that includes information on the\u00a0vehicle\u00a0position, error, and velocity.\u00a0\u00a0<\/p>\n\n\n\n<p>The virtual scope tool can gather\u00a0additional\u00a0information on things like motor temperature, power\u00a0specifics\u00a0or other details if the scope tool is loaded with different data streams by going to \u201cAdvanced\u201d -> \u201cLoad Data Stream.\u201d\u00a0Rockwell does not publish these data stream\u00a0files,\u00a0but you can reach Rockwell ICT\u2019s support team for alternative data streams if needed.\u00a0<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-using-nc-host\">Using NC Host<\/h2>\n\n\n\n<p>While you can certainly run your tuning by setting up a PLC program to run\u00a0tests,\u00a0it is often easier to use NC Host to control a singular mover instead of spinning up a whole PLC program or\u00a0modifying\u00a0your production code.\u00a0<\/p>\n\n\n\n<p><em>For more details on NC Host see\u00a0<a href=\"https:\/\/www.dmcinfo.com\/blog\/19187\/magnemotion-guide-part-2-starting-up-and-commissioning-a-track\/\">MagneMotion\u00a0Guide Part 2:\u00a0Starting up and Commissioning\u00a0a Track<\/a>.<\/em><\/p>\n\n\n\n<p>NC Host also has a tool that allows you to use a temporary set of PID parameters to reduce the\u00a0number\u00a0of\u00a0times\u00a0you\u2019ll\u00a0need to change the configuration file of your system. This means you can try out PID values without needing to restart your system. (Note that any parameters changed through NC Host will be reset the next time the system\u00a0restarts\u00a0or the relevant path is reset).\u00a0<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-other-tuning-considerations\">Other Tuning Considerations<\/h2>\n\n\n\n<p>On top of the typical\u00a0PID-based\u00a0configuration\u00a0adjustments,\u00a0there are also several\u00a0additional\u00a0configuration\u00a0modifications\u00a0that can be made to improve your system\u2019s behavior.\u00a0<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-disable-control-thrust\">Disable Control Thrust<\/h3>\n\n\n\n<p>\u00a0If a vehicle is having trouble settling into\u00a0position,\u00a0the configuration file can be adjusted to disable the control thrust on a vehicle when it is within a certain tolerance of its target. This comes at a cost to how closely the vehicle will hold to its destination but removes any oscillation or\u00a0additional\u00a0thrust from a vehicle that is within tolerance of its position.\u00a0<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"624\" height=\"352\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172911\/magnemotion-tuning-4.png\" alt=\"MagneMotion advanced parameters interface\" class=\"wp-image-40528\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172911\/magnemotion-tuning-4.png 624w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172911\/magnemotion-tuning-4-300x169.png 300w\" sizes=\"(max-width: 624px) 100vw, 624px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-motion-limits\">Motion Limits<\/h3>\n\n\n\n<p>If you are having trouble ensuring smooth motion on your\u00a0vehicles,\u00a0configuring a stricter velocity limit or acceleration limit can prevent the\u00a0vehicle\u00a0motion from overshooting its target too aggressively at the cost of overall system speed.\u00a0Importantly,\u00a0this\u00a0also is\u00a0the easiest way to reduce temperature issues on a motor.\u00a0<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"624\" height=\"100\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172932\/magnemotion-tuning-5.png\" alt=\"MagneMotion motor parameters interface\" class=\"wp-image-40529\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172932\/magnemotion-tuning-5.png 624w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19172932\/magnemotion-tuning-5-300x48.png 300w\" sizes=\"(max-width: 624px) 100vw, 624px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-arrival-tolerance\">Arrival Tolerance\u00a0<\/h3>\n\n\n\n<p>Similarly, if a station has too large of a settling time where vehicles are adjusting themselves to get into a station\u00a0position,\u00a0you can adjust the arrival position and velocity targets. This\u00a0way,\u00a0if on that\u00a0particular path\u00a0vehicle tolerance is not too\u00a0strict,\u00a0you can reduce the delay between when a vehicle arrives at its destination and when\u00a0MagneMotion\u00a0indicates that the vehicle is in position.\u00a0<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"624\" height=\"284\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19173130\/magnemotion-tuning-6.png\" alt=\"MagneMotion motor parameters interface\" class=\"wp-image-40533\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19173130\/magnemotion-tuning-6.png 624w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19173130\/magnemotion-tuning-6-300x137.png 300w\" sizes=\"(max-width: 624px) 100vw, 624px\" \/><\/figure>\n\n\n\n<p>This parameter only affects when\u00a0MagneMotion\u00a0considers a\u00a0vehicle\u00a0\u2018in position\u2019\u00a0and does not change the motion profile of a vehicle.\u00a0<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-host-controller-communication\">Host Controller\u00a0Communication\u00a0<\/h3>\n\n\n\n<p>You can also potentially reduce settling time by adjusting the&nbsp;system\u2019s&nbsp;communication with its host controller. For high throughput&nbsp;systems,&nbsp;changing the Send Vehicle Status Period or the Vehicle Records\/Status Period values can reduce the delay&nbsp;caused&nbsp;while&nbsp;waiting for the Node&nbsp;Controller to tell the host controller that the vehicle has arrived. Care should be taken when adjusting these values to ensure that you are not overloading the communication resources of the Node Controller or the Host Controller.&nbsp;<\/p>\n\n\n\n<p>On a host&nbsp;controller,&nbsp;this update frequency also depends on the cycle time of the&nbsp;MagneMotion&nbsp;device handler.&nbsp;<\/p>\n\n\n\n<p><em>Also note that these settings are specifically for systems that make use of Rockwell\u2019s ICT library, see\u00a0<a href=\"https:\/\/www.dmcinfo.com\/blog\/18983\/magnemotion-guide-part-3-controlling-a-system-with-a-plc\/\">MagneMotion\u00a0Guide Part 3: Controlling a System with a PLC<\/a>.\u00a0<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"624\" height=\"268\" src=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19173151\/magnemotion-tuning-7.png\" alt=\"MagneMotion ethernet\/ip interface\" class=\"wp-image-40534\" srcset=\"https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19173151\/magnemotion-tuning-7.png 624w, https:\/\/cdn.dmcinfo.com\/wp-content\/uploads\/2025\/12\/19173151\/magnemotion-tuning-7-300x129.png 300w\" sizes=\"(max-width: 624px) 100vw, 624px\" \/><\/figure>\n\n\n\n<p><strong>Learn\u00a0more about DMC\u2019s <a href=\"https:\/\/www.dmcinfo.com\/services\/manufacturing-automation-and-intelligence\/magnemotion-programming\">MagneMotion programming\u00a0expertise<\/a>\u00a0and\u00a0<a href=\"https:\/\/www.dmcinfo.com\/contact\">contact us<\/a>\u00a0today to get started on your next project.\u00a0<\/strong><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>In the\u00a0previous\u00a0article\u00a0in this series,\u00a0MagneMotion\u00a0Guide\u00a0Part 10: Moving Track,\u00a0we discussed handling moving path nodes for\u00a0MagneMotion\u00a0Quickstick\u00a0systems. In this article,\u00a0we\u2019ll\u00a0discuss the advantages of tuning your\u00a0MagneMotion\u00a0system and general good practices for tuning\u00a0MagneMotion.\u00a0 MagneMotion Guide Series What is Tuning? Tuning is the process of adjusting the parameters of your system that control the motion profiles used to turn motion commands (i.e.,\u00a0move [&hellip;]<\/p>\n","protected":false},"author":126,"featured_media":40881,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[735,731],"tags":[],"class_list":["post-40486","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-allen-bradley-plc","category-manufacturing-automation-intelligence"],"yoast_head":"<title>MagneMotion Guide Part 11: Tuning | DMC, Inc.<\/title>\n<meta name=\"description\" content=\"Learn advantages of tuning your\u00a0MagneMotion\u00a0system and general good practices for tuning\u00a0MagneMotion with this guide by DMC, Inc..\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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