HIWIN MIKROSYSTEM Corp. 6-1
6. Tuning
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6. Tuning ··································································································································· 6-1
6.1 Status display and Quick view ································································································ 6-2
6.1.1 Status display ············································································································ 6-2
6.1.2 Quick view ················································································································ 6-3
6.1.3 Function keys ············································································································ 6-4
6.2 Performance center ············································································································· 6-4
6.3 Scope ······························································································································· 6-7
6.4 Data collection ···················································································································· 6-9
6.4.1 Function description ···································································································· 6-9
6.4.2 Data collection via PDL program ·················································································· 6-11
6.5 Plot view ·························································································································· 6-12
6.5.1 Display mode ··········································································································· 6-12
6.5.2 Save and open file ···································································································· 6-17
6.5.3 Calculation functions ································································································· 6-18
6.6 Advanced gain tuning ········································································································· 6-20
6.6.1 Filter ······················································································································ 6-21
6.6.2 Acceleration feedforward ···························································································· 6-23
6.6.3 Schedule gains and velocity loop gain ··········································································· 6-25
6.6.4 Offset correction for analog input·················································································· 6-28
6.6.5 Current loop ············································································································ 6-29
6.6.6 Vibration suppression filter ·························································································· 6-29
6.6.7 Friction compensation ································································································ 6-33
6.7 Loop constructor ··············································································································· 6-34
6.7.1 Load/save file ·········································································································· 6-35
6.7.2 Tool ······················································································································· 6-37
6.7.3 Filter ······················································································································ 6-40
6.7.4 Gain tuning ············································································································· 6-42
6.7.5 Spectrum analysis ···································································································· 6-43
6.8 Checking encoder signal ····································································································· 6-44
6.9 Error map function ············································································································· 6-45
6.9.1 Setting error map function ·························································································· 6-45
6.9.2 Enabling error map function ························································································ 6-48
6.9.3 Saving and opening error map table ············································································· 6-49
6.9.4 Changing the start position of error map function ····························································· 6-49
6.10 Compensation function for resolver signal ············································································· 6-54
6.10.1 Operational description ···························································································· 6-55
6.10.2 Enabling signal compensation function ········································································ 6-56
6.10.3 Saving and opening signal compensation table ····························································· 6-56
6.11 Compensation function for absolute resolver signal ································································· 6-57
6.11.1 Operational description ···························································································· 6-57
6.11.2 Enabling signal compensation function ········································································ 6-59
6.11.3 Saving and opening signal compensation table ····························································· 6-59
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