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Gain Set Elements:
• DIBW (current loop bandwidth)
• DMTLIM (torque/force limit)
• DMVLIM (velocity limit)
• DNOTAD (notch filter A depth)
• DNOTAF (notch filter A frequency)
• DNOTAQ (notch filter A quality factor)
• DNOTBD (notch filter B depth)
• DNOTBF (notch filter B frequency)
• DNOTBQ (notch filter A quality factor)
• DNOTLD (notch lead filter break frequency)
• DNOTLG (notch lag filter break frequency)
For help with servo tuning procedures, refer to the Hardware Installation Guide or to the Motion Planner
help system.
Example:
SGVF5
; Set the velocity feedforward gain
SGAF1
; Set the acceleration feedforward gain
SGSET3
; Assign SGVF & SGAF gains to servo gain set #3
SGVF9
; Set the velocity feedforward gain
SGAF18
; Set the acceleration feedforward gain
SGSET1
; Assign SGAF & SGVF gains to servo gain set #1
SGENB1
; Enable gain set #1 to be in effect
TSGSET3
; Display the value for all gains in gain set #3.
; (see sample response in TSGSET command description)
SGINTE
Integrator Enable
Type
Tuning
Syntax
<a_><!>SGINTE<b>
Units
b = enable bit
Range
0 (disable) or 1 (enable) or 2 (enable only at end of move)
Default
1 (enabled)
Response
SGINTE:
*SGINTE1
See Also
LDAMP, SGPRAT, SGVRAT, TGAIN, TSGSET
The
command enables/disables the integrator in the velocity and position loops. When enabled
SGINTE
(the default), the integrator progressively reduces the velocity error in proportion to how long the error has
persisted. This helps to reduce the effects of load friction on performance. This effect is most noticeable
when a constant velocity is commanded for a significant period of time.
Because position error causes the generation of a corrective velocity command, the integrator also reduces
steady-state position error to zero, and will result in more accurate final positioning in applications where
friction is present. If you use the
be enabled only at the end of the move.
In some situations, the integrator can reduce stability, especially if there is high stiction (non-linear
friction). In this case, a limit-cycle can result. This will typically take the form of a square-wave oscillation
around the final position. (Most other causes of instability result in nearly sinusoidal oscillations.) In such
cases, disabling the integrator can improve performance.
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help
system.
• Check the values of all active gains (
• Creating and invoking gain sets: see
262
Gemini GV6K/GT6K Command Reference
• DPBW (position loop bandwidth)
• LDAMP (load damping)
• LJRAT (load-to-rotor inertia ratio or load-to-force mass ratio)
• SGAF (acceleration feedforward gain)
• SGINTE (integrator enable)
• SGIRAT (current damping ratio)
• SGPRAT (position loop ratio)
• SGPSIG (velocity/position bandwidth ratio)
• SGVF (velocity feedforward gain)
• SGVRAT (velocity damping ratio)
setting, the integrator will be disabled during the move, and will
SGINTE2
is one of many servo gains): use
SGINTE
,
,
SGSET
SGENB
TGAIN
www.comoso.com
Product
GT6K
GV6K
(applicable only to
servo axes)
TGAIN.
,
TSGSET.
Rev
n/a
6.0
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