Hiwin D1 - Tuning

HIWIN MIKROSYSTEM CORP. 6-1
6. Tuning
000 0
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 ....................................................................................................................... 6-34
6.7 Loop constructor ....................................................................................................................................... 6-35
6.7.1 Load/save file .................................................................................................................................... 6-36
6.7.2 Tool ................................................................................................................................................... 6-37
6.7.2.1 Frequency response function ........................................................................................................ 6-38
6.7.2.2 Nyquist ........................................................................................................................................... 6-39
6.7.2.3 Bode .............................................................................................................................................. 6-40
6.7.2.4 Nichols ........................................................................................................................................... 6-41
6.7.3 Filter .................................................................................................................................................. 6-41
6.7.3.1 Low-pass filter ............................................................................................................................... 6-42
6.7.3.2 Notch filter ..................................................................................................................................... 6-43
6.7.4 Gain tuning ........................................................................................................................................ 6-44
6.7.5 Spectrum analysis ............................................................................................................................. 6-45
6.8 Checking encoder signal .......................................................................................................................... 6-45
6.9 Error map function .................................................................................................................................... 6-47
6.9.1 Setting error map function ................................................................................................................. 6-48
6.9.2 Enabling error map function .............................................................................................................. 6-50
6.9.3 Saving and opening error map table ................................................................................................. 6-51
6.9.4 Changing the start position of error map function ............................................................................. 6-52
6.10 Compensation function for resolver signal ............................................................................................... 6-57
6.10.1 Operational description ..................................................................................................................... 6-58
6.10.2 Enabling signal compensation function ............................................................................................ 6-59
6.10.3 Saving and opening signal compensation table ............................................................................... 6-59
6.11 Compensation function for absolute resolver signal ................................................................................ 6-60
6.11.1 Operational description ..................................................................................................................... 6-60
6.11.2 Enabling signal compensation function ............................................................................................ 6-62
6.11.3 Saving and opening signal compensation table ............................................................................... 6-62