D1 Servo Drive User Manual Tuning
HIWIN MIKROSYSTEM CORP. 6-35
Figure6.6.7.2 Friction compensation
6.7 Loop constructor
In Loop constructor, user is able to check the stability of control system. Loop constructor supports
spectrum analysis tools, such as Nyquist plot, Nichols plot and Bode plot and allows user to adjust filters
and gains (vpg, vig, ppg and CG). User can directly observe the frequency response of control system
and adjust parameters in Loop constructor. To open Loop constructor window, click on Tools on the
menu bar and select Loop constructor from the submenu, as figure 6.7.1. The interface of Loop
constructor is shown in figure 6.7.2.
Figure6.7.1 Open Loop constructor
Friction compensation is applied.
Friction compensation is not applied.
Position error is greater
as motor starts to move.
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