Servotronix CDHD2S User Manual page 8

Contents
7.3.1 Serial current operation ............................................. 187
7.3.2 Analog current operation ........................................... 187
7.3.3 Current control .................................................... 187
7.4 Velocity Operation ....................................................... 188
7.4.1 Serial velocity operation ............................................ 188
7.4.2 Analog velocity operation ........................................... 188
7.4.3 Velocity control .................................................... 188
7.5 Position Operation ....................................................... 192
7.5.1 Serial position operation ............................................ 192
7.5.2 Position control .................................................... 194
7.6 Gearing/Pulse Train Operation ............................................ 196
7.6.1 Pulse and direction ................................................. 197
7.6.2 CW/CCW (up/down) counting ....................................... 200
7.6.3 Encoder follower (master/slave) ...................................... 200
8. Drive Debugging ............................................................. 201
8.1 CDHD2SHD controller .................................................... 201
8.2 CDHD2SHD Controller Autotuning ......................................... 201
8.3 Drive-based autotuning .................................................. 202
8.3.1 Drive-based autotuning - fast ........................................ 202
8.3.2 Drive-based autotuning - advanced .................................. 203
8.4 PC-based Autotuning .................................................... 210
8.5 Summary of Autotuning Parameters ........................................ 213
8.6 Record and evaluate performance ......................................... 213
8.6.1 Diagnosis ......................................................... 213
8.6.2 Recording data in ServoStudio2 ...................................... 214
8.6.3 Recording data in the terminal ....................................... 216
8.6.4 Evaluate PTPVCMD ................................................. 217
8.6.5 Evaluation of ICMD and/or PE oscillation .............................. 218
8.7 Current Command Low Pass Filter ......................................... 219
8.8 Gear filter .............................................................. 221
8.9 Moving Smoothing Filter ................................................. 222
8.10 Notch filter ............................................................ 223
8.11 Anti-vibration Filter ..................................................... 223
8.12 Gain - Manual Tuning ................................................... 228
8.13 Flexible compensation tuning ............................................ 232
8.14 Dual feedback position control loop debugging ............................ 233
8.15 Gantry Tuning.......................................................... 235
8.16 Tuning Questions - Q&A ................................................ 239
9. Functional Safety ............................................................. 241
9.1 Safety Torque Shutdown (STO) Overview ................................... 241