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to the current setting of both the motor and load viscous damping terms (
shown in the equation below.
Estimated
Setting
to 100% will theoretically produce zero following error during the constant velocity portion
SGVF
of a move profile. This assumes that the drive or motor are not being current limited, the values for viscous
damping are accurate and the models used for analysis are correct. You can adjust the value of
zero to as high as 5 times or 500% (
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
Example:
SGVF200
; Set velocity feedforward to 200% of theoretical value
SGVRAT
Velocity Damping Ratio
Type
Tuning
Syntax
<a_><!>SGVRAT<r>
Units
r = ratio
Range
0.500 to 2.000 : ±0.001
Default
1.000
Response
SGVRAT:
*SGVRAT.224
See Also
LDAMP, LJRAT, SGIRAT, SGPSIG, SGPRAT, SGSET, TGAIN, TSGSET
The
command sets the damping ratio (Zeta) of the velocity loop. Higher values produce a more
SGVRAT
stable velocity loop. Lower values provide faster velocity response but increase velocity overshoot.
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
SHALL
Hall Sensor Inversion
Type
Drive Configuration
Syntax
<a_><!>SHALL<i>
cycle power)
Units
i = control option #
Range
0 (do not invert)
1 (invert)
Default
0
Response
SHALL:
*SHALL0
See Also
THALL
NOTE: This command does not take effect until you cycle power to the drive, or issue a
command.
(
=
+
velocity
torque
DMTD
LDAMP
1
4
4
4
2
SGVF
value
) of the theoretical value.
SGVF500
is one of many servo gains): use
SGVF
,
,
SGSET
SGENB
is one of many servo gains): use
SGVRAT
,
,
SGSET
SGENB
(does not take effect until RESET, DRESET or
www.comoso.com
and
DMTD
LDAMP
)
⋅
velocity
command
4
4
4
3
=
100%
TGAIN.
,
TGAIN
TSGSET.
TGAIN.
,
TGAIN
TSGSET.
Command Descriptions
, respectively) as
from
SGVF
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
or
RESET
DRESET
265
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