Moons' MBDV Series - Page 163

163
Rev. 2.0
07/27/2023
MBDV Hardware Manual
• Load inertia ratio
If the current load inertia ratio is known, input it into " Load inertia ratio (P0-02)
“
, which can
improve the system mechanical Sti󰀨ness and speed up the auto-tuning speed. If you do not know
the current load inertia ratio, you do not need to ll in, the system will automatically identify the load
inertia ratio.
• Motion control source custom trajectory planning: use the software's " custom trajectory
planning " to generate the trajectory
External motion command: select this item when using the host computer to send the motion track
• Limitations of Auto Tuning:
Vibration Level
：
The maximun torque vibration value that the servo system needs to be met
when in auto tuning process. The larger the set value, the higher the system sti󰀨ness after auto
tuning is nished.
Positioning Error
：
The maximum position following error that the servo system needs to be
met.The smaller the set value, the higher the system sti󰀨ness after auto tuning is nished.
Setting Time
：
The longest positioning setting time that the servo system needs to be met. The
smaller the set value, the higher the system sti󰀨ness after auto tuning is nished.
The default value of those parameters above can be used for most applications, they don't
need to be set unless excellent sti󰀨ness and system response are needed. Note that too
extreme conditions may cause servo system vibration easily and unstable.
Step 5: Start the Auto Tuning
After the above congurations are set, set the motion prole that meets the following conditions,
and then click the "Start Auto Tuning" button to start the tuning process. The source of motion
command can be choose by "My own prole" or "Outer motion prole".
Required Motion Prole
：
Travel Time
：
> 0.5 seconds
Travel Speed
：
> 180 rpm
Acc./Dec.
：
> 30rps/s
Interval Time
：
> 1.5 seconds
• Use external motion command
Click the " Start Auto-Tuning " button, and use the host computer to send motion commands
directly.
• Custom trajectory planning
Users can also use custom trajectory planning. Set a reasonable motion trajectory according to the
above motion conditions, and click the " Start Auto-Tuning " button.