Nidec Control Techniques Digitax-SF DA24A23 - Final Tuning: Position Control Mode

12
Digitax SF Instruction Manual
7. Tuning
2. Tuning Procedure
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StartFinalTuning
Operation3
Confirm
・TuningofControlGainFFcompensation
Isthemotorquiet?
Acceptablemotion?
Novibration?
Torquecommandfilter
Notchfilter
Low-passfilter
・TuningofControlGainSet
TuningofcommandResponsiveness
Operation4
:DYHIRUPPRQLWRU
Pages41-
Pages36-
Page33
Page35
Pages41-
Pages36-
Page27
:DYHIRUPPRQLWRU
ControlGainSet
:DYHIRUPPRQLWRU
Confirm
:DYHIRUPPRQLWRU
Suppressingvibrationandnoise
Positioncommandfilter
Notchfilter
Smoothingfilter
Suppressingvibrationatthemotionend
Acceptablemotion?
GainFFcompensation1
Suppressingvibrationatthemotionend
・TuningofIntegralgain
Operation5
:DYHIRUPPRQLWRU
Integralgain
Suppressingdisturbance
Confirm
:DYHIRUPPRQLWRU
Isthemotorquiet?
Acceptablemotion?
Novibration?
Acceptablemotion?
Torquecommandfilter
Notchfilter
Low-passfilter
Suppressingvibrationandnoise
Positioncommandfilter
Notchfilter
γ-Notchfilter
Suppressionofresidualvibration
attheequipmenttip.
Operation6
:DYHIRUPPRQLWRU
Tuningcomplete
Writetothedrive
FinalTuning
And/or
Visuallychecktheactualmotion
And/or
Visuallychecktheactualmotion
And/or
Visuallychecktheactualmotion
Page13
Stage 2
Optimizing the settling time and error / Suppressing vibration and noise
Final Tuning: Position Control Mode