D2 Series Servo Drive User Manual Drive Tuning
HIWIN MIKROSYSTEM CORP. 6-25
Figure6.6.2.1 Acceleration feed-forward
Step 4: Record the maximum of “Command Current” in the acceleration phase, as shown in figure
6.6.2.2. It can be observed from the figure that “Command Current” is 16 in the acceleration
phase. When the motor starts moving, “Scope” will be shown as figure 6.6.2.2. Use the button
of “Toggle scopes windows (Page UP)” to change to the graph with a single physical quantity.
Repeatedly clicking this button will switch to the graph of “Command Current”, “Reference
Acceleration”, or “Position Error” to facilitate the observation of graphic value.
Figure6.6.2.2Trajectory result of motor movement
Acceleration” is
2
is 90 counts.
scopes
windows
(Page UP)
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