Servotronix CDHD2S User Manual page 215

Tuning
4. Make sure the drive is enabled and click the Run Record and Plot button in the Range toolbar.
Note that the trajectory scale factor of the "Position Error" variable shown here is 50.
5. Select the "Parameter Table" tab.
The parameter KNLUSERGAIN (HD global gain) is set to 1.000 during autotuning. For other
manual tuning, you can start with this setting. If the gain is too high - as evidenced by vibration and
noise - lowering the value of KNLUSERGAIN can deliver a smooth motion.
—215
—
Figure 8-14
Figure 8-15 Motion obtained using default parameter values
Figure 8-16 Parameter - example