D2 Series Servo Drive User Manual Drive Tuning
HIWIN MIKROSYSTEM CORP. 6-5
Take the point-to-point (P2P) motion as an operation example in the following:
Table6.2.1
Step Graphical (HM) description Operation
Click to enable the motor.
3
Set positions of
P1
and
P2
.
(If software limits are used, set the
position between “Lower SW limit” and
4
Set the required speed, acceleration,
deceleration, and smooth factor (refer to
Section 3.4). If there are no special
requirement, simply use default values.
5
Click to move to the
P1
position
and click to move to the
P2
position. To perform a point-to-point
back-and-forth motion, select the
“Repeat” option and enter the break time
(“Dwell time”). Then, click the button of
or to perform the
The performance center has the function of measuring the settling time. The target radius of position error
and debounce time for settling time can be set via “Target radius”, referring to Section 5.6. During motion,
the servo gain (“Primary CG”) can be tuned to meet the requirement of settling time. The higher the servo
gain is, the faster the response is and the shorter the settling time is. The required time from moving to
in-position can be observed via “Move time”, “Settling time”, and “Total time” (refer to Section 3.7). Click
“Set scope…” button to appear the graphical oscilloscope (“Scope”). This tool can be used to observe the
motion waveform related to the settling time.
The performance center has the function of measuring the velocity ripple. The performance of velocity
ripple can be observed via the point-to-point motion. Here, “V max”, “V min”, “V avg”, and “Velocity Ripple”
are the maximum speed, minimum speed, average speed, and velocity ripple at the constant speed
phase, respectively. Click the “Set scope…” button to appear the graphical oscilloscope (“Scope”). This
tool can be used to observe the motion waveform related to the velocity ripple.
Figure6.2.1 Performance center – “Velocity Ripple” tab
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