Parker Gemini GT6 Series Hardware Installation Manual page 27

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Gemini GT6 Hardware Installation Guide
Use the following procedures to configure the damping settings. You can usually
find the best setting by using touch or sound. If this is not adequate, use a tachom-
eter attached directly to the motor by means of a stiff coupler.
Configuring ABS Damping (DABSD)
The default setting is disabled . (DABSD0)
1. To turn ABS damping on , use the DABSD command. (DABSD1)
2. If you use a Parker motor, the following parameters are automatically set when you
use the configuration utilities (Motion Planner or Pocket Motion Planner) to select a
motor. You do not need to enter values for them now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command: Motor Parameter:
DMTRES motor resistance
DMTIND motor inductance
The figure below shows performance with ABS Damping, with Electronic Viscosity,
and without damping.
ABS Damping
40 ms
Damping Performance
Configuring Electronic Viscosity (DELVIS)
1. Enter an accurate value for the load parameter, using the following command:
Command: Parameter:
LJRAT system load-to-rotor inertia ratio
2. If you use a Parker motor, the following parameters are automatically set when you
use the configuration utilities (Motion Planner or Pocket Motion Planner) to select a
motor. You do not need to enter values for them now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command: Motor Parameter:
DMTJ rotor inertia
DMTSTT static torque
DPOLE number of motor pole pairs
DMTIC continuous current
DMTIND inductance
Start with DELVIS set to 0, which is disabled . (This is the default setting.)
3.
4. Increase DELVIS until your system performs as you require.
• 1 - 7 is the full range
• 5 provides optimal damping
• 0 is off
The figure above shows performance with Electronic Viscosity, with ABS Damping,
and without damping.
400 ms
Electronic Viscosity
Undamped
100 ms
Time