Gain Tuning - Adtech ADT-RC400 User Manual

motor of Gert
17-bits absolute motor of Sanyo
Having known the commutation angle of motor, users can set this angle directly in
tuning of commutation mode.
Approaches of commutation tuning are set as:
Click icon，select
to enter the window of
commutation tuning
Set commutation
mode as 0

5.3 Gain Tuning

After find the right 0 degree of the motor, you can adjust control parameters of robotic
drive system. The robotic drive system includes three loops from inside to outside, which are
current loop, velocity loop and position loop. In order to control the servo motor accurately,
parameters of three loops are needed to be tuned one by one.
Write the commutation
angle at "Absolute
enc.reading at 0"item
28
Servo Debugging for Pre-motion
13107
Select "Commutation
mode"based on motor's
type, then "Apply Changes"
and "Save To Flash".
Click "Apply
Changes",then click
"Save To Flash"