Servotronix CDHD2S User Manual page 234

Tuning
2. Configure the motor and motor feedback parameters.
3. Set the motor to the load to inertia ratio (LMJR) value.
If unknown, use ServoStudio2 autotuning estimated value.
4. Configure secondary feedback device parameters. Please refer to the Secondary Feedback.
5. Make sure the motor feedback and secondary feedback are in the same direction. If not, use
SFBDIR to inverse the direction.
6. Enable secondary feedbainvert ck and activate dual loop mode (SFBMODE1).
7. Tune velocity controller:
a. Switch to serial velocity operation mode (OPMODE0).
b. Define PDFF velocity controller (VELCONTROLMODE1).
c. Select the variables to be recorded: VCMD, MVEL, ICMD
d. Use these variables to tune the motor's velocity loop:
•Adjust velocity proportional gain (KVP).
•Adjust velocity integral gain (KVI).
•Adjust velocity feedforward (KVFR).
8.Adjust the dual feedback position controller:
a. Switch to serial position operation mode (OPMODE8).
b. Select the variables to be recorded: PTPVCMD, V, PE, ICMD.
c. Use these variables to tune the dual feedback position loop:
Tune proportional gain (KNLDUALLOOPKP)
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Tune velocity feed forward (KNLDUALLOOPVFF)
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Figure 8-41 Dual feedback - tune velocity controller—example
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