14.4.1 Overview 164
14.4.2 Determining Tuning Criteria 164
14.4.3 Before You Tune 164
14.4.4 Closed Loop Tuning Methods 165
14.4.4.1 Tuning the Velocity Loop 165
14.4.4.2 Tuning the Position Loop 167
14.4.5 Torque Feedforward Tuning Methods 167
14.4.5.1 Shape Based Feedforward Tuning 167
14.4.6 Using Anti-Resonance Filters 168
14.4.6.1 Biquad Calculations 176
14.4.6.2 Common Uses Of Anti Resonance Filters 178
15 Scope 179
15.1 Overview 179
15.2 Using the Scope 179
15.2.1 Scope Channels Tab 179
15.2.1.1 Source Column 179
15.2.1.2 Color Column 180
15.2.1.3 Hide Column 180
15.2.1.4 Y-Axis Column 180
15.2.1.5 Filter and Filter Frequency Column 180
15.2.2 Scope Time-base and Trigger Tab 180
15.2.2.1 Scope Time-base and Trigger, More View 181
15.2.2.2 Trigger Type 182
15.2.2.3 Trigger Position 182
15.2.2.4 Trigger Value 183
15.2.2.5 Effects of Recorder Gap 184
15.2.2.6 Trigger Slope 185
15.3 Scope Settings 185
15.3.1 Load a setting (preset) to Scope screen 186
15.3.2 Create a new preset 186
15.3.3 Save or delete preset 186
15.3.4 Import preset 186
15.3.5 Export preset 187
15.3.6 Scope axis scaling and zooming 188
15.3.7 Manual range per axis 189
15.3.8 Unit display on Y axis 189
16 Using Parameters and the Terminal Screen 191
16.1 Terminal 192
16.1.1 Overview 192
16.1.2 Using the Terminal 192
16.1.3 Macros 193
16.1.3.1 Creating a Macro from Terminal commands 193
16.1.3.2 Macro Editor 194
16.2 Viewing Parameters 195
16.3 Parameter List 195
AKD User Guide | Table of Contents
11 Kollmorgen | December 2010
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