Tuning Of Position Loop - Adtech ADT-RC400 User Manual

5.3.3 Tuning of Position Loop

Click
to enter interface of position loop
Click " Pos.Command"
Set the type, amplitude
and frequency
Click "Data Collection"icon ,
then select "General"
Setting "Recording period"
and "Recording gap"
Click
position loop and approaches of debugging can be followed with following steps:
(1) Setting of Position Command
Click "Position Command" icon in "Position Control" interface to set corresponding
parameters in following interface:
icon, select
icon to enter the interface of "position 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 "Pos.Tuning"icon, then set
"Position PI, gain" and "Position PI,
integral". At last, click"Apply Changes"
and "Apply Position Command"
Click "Start Recording and Show Graph"
to observe waveforms of given and actual
velocity. Then change P to obtain a better
effect.
Click "Disable Position Command" to
stop motor, then click "Apply Changes"
and "Save To Flash"
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