Servotronix CDHD2S User Manual page 212

Tuning
Step - Test movement quality
Figure 8-13 PC-based autotuning wizard – test movement quality
1. Click Move and Plot to send the current command to the drive and plot the response.
Move and Plot enables the drive and the motor will run!
2. A graphic will appear. This figure shows the velocity command generated by the point-to-
point position profile map (PTPVCMD) along with the position error (PE).
The wizard also displays the system-calculated settling time and position error window values.
Toolbar buttons allow you to examine the drawing more carefully and export the results to a
spreadsheet. These functions are also found in the ServoStudio2 Range screen.
3. Modify the motion settings and/or gain settings and repeat the test under different
conditions (optional):
Target position
◼
Cruising velocity
◼
Acceleration (and deceleration)
◼
HD Global Gain (KNLUSERGAIN); This is the global gain parameter of the HD control
◼
loop. The higher the gain value, the stricter the control, and the lower the value, the
looser the control.
Step - Save
To complete the autotuning process, do all of the following:
Click Save to Drive to save the parameters in the drive RAM to its non-volatile drive
⚫
memory.
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