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After finishing configuration, click "Apply Changes", then "Save to Flash".
(2) Setting of Oscilloscope Window
Waveforms of "PosRef" and "Pos" are observed in oscilloscope window when tuning of
velocity loop is executing. Set "Recording period" as 1 and "Recording gap" as 1. Owing to
QC400 robotic drive system with four axis, you should tune each axis by order (A\B\C\D)
with A first.
Specific approaches are: click " Data Collection"
" Recording gap"(1)
period"(1)
"PosRef" in "Select message category"
"Add"
"Apply Changes". Specific orders are listed in the following figure:
select A axis from "Selected axis" item
"Add"
select "Pos" in "Select message:"
46
Servo Debugging for Pre-motion
Select"Square wave"
About 2000
5Hz
"General"
"Recording
select
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