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velocity profile, and Interval, Repeat Times of self motion test.
V_top: Maximum Speed. The maximum speed of trapezoidal velocity profile. Its
unit is RPM.
Accel: Acceleration. The acceleration of trapezoidal velocity profile. Its unit is
(r/s)/s.
Length: Distance. The distance required to move. Its unit is pulse (count).
Interval: The interval between positive rotation and negative movement.
Repeat_times: The repeat times of positive and negative movement.
Start/Stop button: The user can start or stop self-test by clicking this button.
Figure 6-14: CurveSetting tab
In CurveSetting tab, the user can choose curves displayed in digital scope of
Position Loop Tuning window and DigitalMonitor window, and set their Trace
Time. These curves includes Current Following Error (i_err), Velocity Following
Tel: (86)755-26434369
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Error (v_err), Position Following Error (p_err), Current Feedback (i_bak),
Velocity Feedback (v_bak), Position Feedback (p_bak), Current Command
(i_ref), Velocity Command (v_ref), Position Command (p_ref).
i_err: Current Following Error. The difference between commanded current and
the actual measured current.
v_err: Velocity Following Error. The difference between commanded velocity and
the actual measured velocity.
p_err: Position Following Error. The difference between commanded position and
the actual measured position.
i_bak: Current Feedback. This is the actual measured current in motor coil. Ideally,
this value should be as close as possible to the commanded current.
v_bak: Velocity Feedback. This is the actual measured velocity measured by the
encoder. Ideally, this value should be as close as possible to the commanded
velocity.
p_bak: Position Feedback. This is the actual measured position measured by the
encoder. Ideally, this value should be as close as possible to the commanded
position.
i_ref: Current Command. This is the commanded current.
v_ref: Velocity Command. This is the commanded velocity.
p_ref: Position Command. This is the commanded position.
Trace Time: Trace Time. This is the trace time of the digital scope.
Start/Stop button: The user can start or stop self-test by clicking this button.
Tel: (86)755-26434369
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