CDHD Tuning
User Manual 207
To improve or change perform ance of the CDHD syst em , refer to the
Perform ance Diagnostics diagram , and m anually m odify and ev aluate t he
parameters.
Procedu re – Modifying and Testing a Pa r a m e ter
After each m odification of a param et er, do the following:
1 . Make sure Operat ion Mode is 8 - Posit ion.
2 . Execute a back/ forth motion, and record PE, I CM D and PTPVCMD
3 . Use the ServoStudio Scope screen to plot and evaluate the recorded values.
4 . Check the se t tlin g tim e of PE.
9 .6 .2 Recor ding D at a in ServoSt udio
Procedu re – Recording D a t a in Se r voStudio – Ex am ple ( M T - 6 CC4 0 1 C Mot or )
1 . I n the ServoStudio Scope screen, select t he Mot ion tab.
Make sure Operat ion Mode is 8 - Posit ion.
Set the value of the Tar get Posit ion to 2 0 ,0 0 0 counts.
Set the values of the m otion param eters to produce a movement at
50% of the m otor’s maxim um speed, and 75% of the m aximum
acceleration required by the application. Thus, in this exam ple:
Maxim um speed ( Cr u ise Ve locity) is set to 1000
Accele rat ion ( and Dece lera t ion) is set to 50,000
I f you need a back and forth motion, select the option Alt erna t in g.
The aim is to achieve a m otion profile that has substantial durations for the
acceleration, plateau, and deceleration phases.
2 . I n the Recor der Set up panel, select the following Recor d Varia bles:
PTPVCMD (Position com m and velocity)
I CM D (Current comm and)
PE ( Position error) . Also enter a t race scaling fact or of 5 0 for t he PE
variable.
3 . I n the Recor der Set up panel, enter the sampling values and trigger
variable:
Sam ples: 1 0 0 0
Time Interval: 1 6
Trigger: I M M
Make sure the drive is enabled, and then click the Move Recor d and Plot
butt on in the Scope toolbar.
Note that the trace of the Position Error variable shown here is scaled by a
fact or of 50.
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