Technical Support

We offer long-term application technical services for our products, aiming to assist you in swiftly resolving the following application issues, accelerating product development, shortening development cycles, and reducing development risks and costs:

EMC Compliance Issues: Ensuring products meet electromagnetic compatibility standards.
Overall System Performance Issues:
Jitter Improvement: Optimizing the system to reduce or eliminate jitter phenomena.
Precision Enhancement: Improving system repeatability and absolute accuracy, and conducting overall system precision calibration.
Operating Speed Enhancement: Enhancing system operating speed to meet application requirements.
Control and Communication Issues:
Protocol Stack Development: Supporting the development and integration of protocols such as EtherCAT, CANopen, and Modbus.
Motion Control Optimization:Enhancing motion control performance for more precise operations.
Communication Anomaly Diagnosis:Identifying and resolving anomalies in the communication process..
Overall System Fault Diagnosis: Comprehensive analysis and diagnosis of system faults, providing solutions.
High-Precision Encoder Installation Guidance and Diagnosis: Offering installation guidance for high-precision encoders and conducting diagnostics to ensure their proper operation.
Overall System Design Guidance: Providing professional advice for system design to optimize overall performance.

Remote Services and Projects:

Testing Services:

Customers requiring customized testing services are advised to contact us for further consultation.
The cost of international travel is determined by the specific location and scope of the service.
Limitations of PID Tuning.

It is important to note that PID tuning alone cannot resolve jitter or vibration issues caused by:

1. Structural design flaws
2. Improper installation

For these more complex challenges, we offer our specialized "Jitter/Vibration Diagnosis" service. This service provides:

3. In-depth analysis to identify the root cause
4. Customized, data-driven solutions to address system-specific issues

By combining our expertise and comprehensive services, we help your system achieve optimal performance, stability, and reliability under your specific conditions.

PID Tuning

We provide in-house PID tuning to optimize your system's performance. This service is highly effective for:

Reducing positioning errors
Shortening positioning times
Minimizing jitter

These issues are often caused by incorrect parameter configurations, and our PID tuning process is specifically designed to address them.

Output of the Service

At the end of the PID tuning process, you will receive a complete set of optimized PID parameters tailored specifically to the load conditions and operating conditions defined by you. These parameters are thoroughly tested and validated by our engineers to ensure optimal performance under your specified requirements.

Total Work Time Calculation

The formula for calculating the total work time is:

$T = \frac{(1 + N) \times M}{8}$

Explanation

T: Total workdays (rounded up) required for tuning one actuator.
N: Number of different load conditions.
A load condition refers to:
- The mass of the load in kilograms (kg).
- The distance between the rotational center and the center of mass in meters (m).
- Note: While the load condition is often simplified to torque in Newton-meters (Nm), inertia of the payload, in real-world applications, PID control is also sensitive to the etc. Therefore, the load condition must be defined and provided to ZeroErr in the form of the mass of the load and the distance between the rotational center and the center of mass.
M: Number of different operating conditions.
An operating condition refers to the speed of operation within the rated rotational speed limit of the eRob.
8: Represents an 8-hour workday.

This formula calculates the total work hours required based on the number of loads and operating conditions and converts it into workdays by dividing the result by 8.

Example Calculation

If a customer requires our assistance to tune the PID of their eRobs for smooth operation under specific load and operating conditions, the following steps can help estimate the total work time:

Scenario

Amount of eRobs = 2
N = 2 (number of different load conditions)
M = 4 (number of different operating conditions)

eRob	N	M	T
eRob70H100I-BHM-18ET	4	4	T₁
eRob80H100I-BHM-18ET	3	4	T₂

Calculation

Using the formula:

$T = \frac{(1 + N) \times M}{8}$

Substituting the values:

T₁	T₂
$T 1 = \frac{(1 + 4) \times 4}{8}$	$T 2 = \frac{(1 + 3) \times 4}{8}$
$T 1 = \frac{5 \times 4}{8}$	$T 2 = \frac{4 \times 4}{8}$
$T 1 = \frac{20}{8} = 2.5$	$T 2 = \frac{16}{8} = 2$

$\sum T = 2.5 + 2 = 4.5 \approx 5 w o r k d a y s$

Since workdays are rounded up, the total required time is:

T = 5 workdays

Conclusion

Using this formula, we can estimate the total work time required to tune the PID for smooth operation under various loads and operating conditions. In this example, the total work time required 5 workdays.

Service Item	Basic Service Price (USD)
Remote Firmware Upgrade	100 per unit per instance
Remote Fault Diagnosis	500 per instance
Protocol Analysis and Packet Analysis	500 per instance

Testing Item^*1	Facility / Location	Type	Basic Service Price (USD)	Domestic Travel Expenses^*2
High and Low Temperature Reliability Test for Joints	Shenzhen Institute of Metrology and Quality Inspection	Measurement	2500 per test	—
Absolute/Repeat Positioning Accuracy (Single Module)	Shenzhen Institute of Metrology and Quality Inspection	Measurement	2500 per test	—
PID Tuning^*3.4	Recreation of end-user environment in ZeroErr	Parameter optimization	1500 per day ^*5	—
Jitter/Vibration Diagnosis	TPI9080 Vibration Analyzer (Customer Site or in ZeroErr)	Diagnostic	3000 per day	800 per day
Fault Diagnosis	—	Diagnostic	1500 per day	800 per day
On-Site Support (Engineer Deployment)	—	Technical Support	1500 per day	800 per day

Product Application Technical Services

Control and Communication Issues:

Remote Services and Projects:

Testing Services:

Additional Notes:

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