D2 Series Servo Drive User Manual Drive Tuning
HIWIN MIKROSYSTEM CORP. 6-7
closer to the T-type curve is. Refer to Section 3.4 for more information.
(9) P2P: Execute the point-to-point motion.
(10) Relative move: Execute the relative motion.
(11) Jog: Execute the continuous movement. Set the current value for the continuous movement with the
constant current.
(12) Home: Execute the homing procedure.
(13) Common Gain: Servo gain. The greater the gain is, the greater the servo rigidity is. Users can user
this parameter to adjust the servo rigidity. But if the servo stiffness is too strong, it will lead to system
instability, and cause the vibration and electrical noise. At this time, this value should be reduced.
(14) Status Display: Display the status.
(15) enable sw limit: Start the software limit protection, which restricts the travel of motor.
6.3 Scope
D2 drive provides a “Scope” graphics oscilloscope to help users to observe all significant physical
quantities during the tuning process to judge the tuning result. In addition, this feature can be used to find
the error clue when the drive cannot be operated. Click
or the “Set scope…” button in the
performance center to open “Scope”. Clicking the “Set scope…” button in the “Position” tab and “Velocity
Ripple” tab will display their respective physical quantities. As shown in figure 6.3.1, after selecting
parameters, the real-time waveform of selected physical quantity can be observed.
Note:
The data shown in “Scope” is not fully real-time physical quantities. To observe more fine physical changes, use
tools other than “Scope”, such as an oscilloscope or a data collection (refer to Section 6.4).
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