D2 Drive User Guide v1.8 6. Drive Tuning
HIWIN Mikrosystem Corp. 147
6. Drive Tuning
6.
Drive Tuning ................................................................................................................. 147
6.1.
Status display and quick view ............................................................................. 148
Status display ........................................................................................... 148
6.1.1.
Quick view ................................................................................................ 148
6.1.2.
Software shortcuts .................................................................................... 149
6.1.3.
6.2.
Performance center ............................................................................................ 150
6.3.
Scope ................................................................................................................. 153
6.4.
Data collection .................................................................................................... 155
Function description .................................................................................. 155
6.4.1.
Data collection via PDL ............................................................................. 156
6.4.2.
6.5.
Plot view ............................................................................................................. 157
Graphic display mode ............................................................................... 157
6.5.1.
Save/open file ........................................................................................... 161
6.5.2.
Mathematical operation ............................................................................ 162
6.5.3.
6.6.
Advanced gains .................................................................................................. 165
Filter ......................................................................................................... 165
6.6.1.
Acceleration feed-forward ......................................................................... 167
6.6.2.
Schedule gains and velocity loop gain ...................................................... 169
6.6.3.
Analog input.............................................................................................. 172
6.6.4.
Current loop .............................................................................................. 173
6.6.5.
Vibration suppression feature ................................................................... 173
6.6.6.
Friction compensation ............................................................................... 177
6.6.7.
6.7.
Loop constructor................................................................................................. 179
Load/Save file ........................................................................................... 180
6.7.1.
Tool .......................................................................................................... 181
6.7.2.
Filter ......................................................................................................... 184
6.7.3.
Gain tuning ............................................................................................... 185
6.7.4.
Spectrum analysis .................................................................................... 186
6.7.5.
6.8.
Encoder signal confirmation ............................................................................... 187
6.9.
Error map function .............................................................................................. 188
Set error map ............................................................................................ 188
6.9.1.
Enable error map ...................................................................................... 190
6.9.2.
Save/open error map ................................................................................ 190
6.9.3.
Change start position ................................................................................ 191
6.9.4.
6.10.
Backlash compensation ...................................................................................... 196
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