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(2) Setting of Oscilloscope window
Waveforms of "CurrRef" and "MotorCurr" are observed when executing the tuning of
current loop. Set "Recording period" as 0.488 and "Recording gap" as 0.122. Owing to
QC400 robotic drive system with four axis, you should tune each axis by order (A\B\C\D).
Specific approaches are: click " Data Collection"
period"(0.448s)
select "Current" in "Select message category"
"Add"
message:"
figure:
7
" Recording gap"(0.122)
"Apply Changes". Specific orders are listed in the following
2
3
4
5
Select
"Current"
Servo Debugging for Pre-motion
"General"
select axis from "Selected axis" item
"Add"
select "MotorCurr" in "Select
Default
Default
6
1
31
"Recording
Select
"CurrRef"and
"MotorCurr"
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