Table of Contents
Advertisement
Acceleration: unit is user-units/sec^2，which is usually set 5~10 times of speed.
Deceleration: unit is user-units/sec^2，which is also usually set 5~10 times of speed.
Speed: unit is user-units/sec。Assume that speed=1000000 user-units/sec and bits of
encoder
is
17
1000000/131072*60=460r/min。
Repetitive wait: the waiting time is from one cycle to next cycle.
Target1 : unit is user-units。
Target2: unit is user-units。
Both speed and acceleration are should be set a litter smaller during preoperation. After
completing configuration, click "Go 1" or "Go 2" to run the motor. If no alarms appear
during pre-motion process, the values of speed and acceleration can be set larger, or exclude
alarms to continue debugging.
【
】Set reasonable values of goal 1 or goal 2 according to motion range of each axis
Notice
in case of collision.
Further optimize the parameters of current loop according to the state of actual current
following given current which is monitored by oscilloscope. Below figures show the
comparison between before optimizing and after.
then
convert
to
Servo Debugging for Pre-motion
common
unit
of
51
Select"Square wave"
About 2000
5Hz
motor
with
a
equation:
Advertisement
Table of Contents
Need help?
Do you have a question about the ADT-RC400 and is the answer not in the manual?