Tuning Of Velocity Loop - Adtech ADT-RC400 User Manual

5.3.2 Tuning of Velocity Loop

Click
to enter interface of velocity loop.
Click " Vel.Command"icon
Set type, amplitude and
frequency of velocity command
Click "Filters" icon, then tick off
"LPF1" to set frequency and damp
Click "Data Collection"icon ,
then select "General"
Setting "Recording period"
and "Recording gap"
Click
velocity loop and approaches of debugging can be followed with following steps:
(1) Setting of Velocity Command
icon , select
icon to enter the interface of "velocity loop". Parameters configuration of
Servo Debugging for Pre-motion
Choose one axis in "Select axis"list,
then choose given current (CurrVel)
and actual position. At last, click
"Apply Changes"
Click "Trigger"to set
triggering conditions of the
oscilloscope
Click "Vel.Tuning"icon, then set
"Velocity PI, gain" and "Velocity PI,
integral". At last, click"Apply Changes"
and "Apply Velocity Command"
Click "Start Recording and Show
Graph" to observe waveform of given
and actual velocity. Then change PI to
obtain the best effect.
Click "Disable Velocity Command" to
stop motor, then click "Apply
Changes" and "Save To Flash"
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