Servotronix CDHD Series User Manual page 201

CDHD
St e p 3 – Move m e n t
Movem ent st ep is available only when t he drive is t he m ot ion generat or.
N ot e:
Figu r e 9 - 9 .
Figu r e 9 - 1 0 . Au t otu n in g – Mot ion Pr ofile . Su it a ble
Aut ot uning m ust be perform ed using a m ot ion profile t hat replicat es t he act ual
m echanical charact erist ics of t he m ovem ent t o be perform ed in t he applicat ion.
Use values t hat produce a t rapezoidal profile on t he graph. The soft ware will
indicat e whet her or not t he profile is suit able for t he aut ot uning procedure.
 Highlight ed orange: profile is possible, but not recom m ended
Highlight ed red: profile cannot be used.

Click N e x t t o cont inue.
St e p 4 – Opt ion s: Vibr a t ion Su ppre ssion
Select Vibr a t ion Su ppre ssion for aut om at ic t uning of t he param et er set s
Ant ivibrat ion2 and Ant ivibrat ion3.
Clear t his opt ion if you want t o set vibrat ion suppression param et ers m anually,
or if t he applicat ion does not require vibrat ion suppression.
Enhanced ant i-vibrat ion will have t he following effect on perform ance:
 Will dam p oscillat ions, t hereby im proving set t ling t im e.
 May allow a higher gain of t he HD loop.
 May increase t he posit ion error of t he m ot or, but reduce t he posit ion
error and oscillat ion of t he end effect or.
Click N e x t t o cont inue.
St e p 4 – Opt ion s: Ver t ica l Applica t ion
Not yet support ed.
St e p 4 – Opt ion s: Acce le r a t ion Fe e dfor w a r d
Select t his opt ion t o reduce t racking error during m ot ion.
I f select ed, t he aut ot uning set s t he value of param et er KN LFARC.
User Manual
Au t otu n in g – Mot ion Pr ofile . N ot Su it a ble
Tuning
201