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SGSET
Save a Servo Gain Set
Type
Tuning
Syntax
<a_><!>SGSET<i>
Units
i = gain set identification number
Range
1-3
Default
n/a
Response
n/a
See Also
SFB, SGAF, SGENB, SGVF, TGAIN, TSGSET
The
command saves the presently active gain values (see list below) as a set of gains. Up to three
SGSET
sets of gains can be saved. Any gain set can be displayed using the
presently active gain values, enter the
Any gain set can be enabled with the
or when not in motion. For example, you could use one set of gain parameters for the constant velocity
portion of the profile, and when you approach the target position a different set of gains can be enabled.
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)
SGVF
Velocity Feedforward Gain
Type
Tuning
Syntax
<a_><!>SGVF<i>
Units
i = percent
Range
0 – 500
Default
100
Response
SGVF:
*SGVF100
See Also
DMTD, LDAMP, SFB, SGAF, SGENB, SGSET, TGAIN, TSGSET
Use the
command to set the velocity feedforward gain. Velocity feedforward control improves
SGVF
position tracking performance when the system is commanded to move at constant velocity. The velocity
tracking error is mainly attributed to viscous friction.
The
value is multiplied by the commanded velocity calculated by the GV6K's move profile routine to
SGVF
produce an estimated torque command that gets added to the servo control signal. The value is normalized
264
Gemini GV6K/GT6K Command Reference
command.
TGAIN
command during motion at any specified point in the profile,
SGENB
• 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)
www.comoso.com
Product
GT6K
GV6K
(applicable only to
servo axes)
command. To report the
TSGSET
Product
GT6K
GV6K
(applicable only to
servo axes)
Rev
n/a
6.0
Rev
n/a
6.0
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