Gain Tuning; Test Of Encoder Before Tuning - Adtech ADT-RC400 User Manual

5.1 Test of Encoder before Tuning

After the basic parameters having been set, users have to use the QX PC Suite software
to monitor the internal wiring of servo encoder to check whether it is correct. The specific test
way can be followed as:
Click
enter the window of PTP
Record current
position P1
(1) Select
(2) Select the current axis needed to be detected, and record current position of this axis
(Assume as P1).
(3) Rotate robot's arm which corresponding to the selected axis with an angle, then
record a new position (Assume as P2).
(4) Determine whether P1 is equal to P2.
If P1 is not equal to P2, you decide preliminary that there is no wrong with encoder, then
execute next step by order. In turn, QX PC Suite cannot detect the signal of encoder, which
shows that there is some wrong with encoder wiring or the selected type of encoder is
incorrect. Then you need to check the encoder wires until that encoder's pulse has changed
with different positions. After that, you can continue subsequent debug. The other three axis
have same way as the first axis has done.

5 Gain Tuning

，select
manipulator by hand
icon in the main menu of QX PC suite, then click
Servo Debugging for Pre-motion
Move the
corresponding
24
The encoder wiring
is correct if P1-P2 is
not 0
Then record
the position P2
after moving
mode.