D2 Drive User Guide v1.8 6. Drive Tuning
HIWIN Mikrosystem Corp. 185
(4) k2: Notch filter = 1
Fig. 6-56 Notch filter
6.7.4. Gain tuning
“Loop constructor” provides gain values of velocity loop (vpg, vig) and position loop (ppg), and
common gains (CG). Refer to Section 6.6 for more information. These parameters can be
used to tune gains to simulate the stability of control system after gain tuning, as shown in Fig.
6-57.
Fig. 6-57 Loop constructor - gains
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