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Servo Debugging for Pre-motion
Given Signal: Ref
Current Loop: P=100，I=50
Feedback Signal
As shown above, red line represents "CurrRef" and green line represents "MotorCurr".
From the above figure, it shows that feedback signal is far less than the given signal, P and I
of current loop should be increased to obtain better performance.
Analysis:
It is
Analysis:
The oscillation is
needed to increase P to
greater, which means that it is needed
obtain higher current
to increase I appropriately
response
Current Loop: P=900，I=550
34
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