Tuning CDHD
210 User Manual
Fun ct ion Var Com D escript ion
RECOFF Turns active recording off.
Recor ding
Ut ility
I nform ation
RECLI ST
Lists all the variables that can be recorded by
the record function.
RECTRI GLI ST
Lists all the options for triggering the
recording.
St at us Flags RECRDY
I ndicates that a recording is arm ed and
ready.
RECI NG
Indicates that a trigger condition has
occurred and that a recording is active.
RECDONE I ndicates that the recording is completed
Dat a
Ret r ieva l
GETMODE
Defines the form at for the recorded dat a
(binary/ ASCII )
GET Retrieves t he recorded data
9 .6 .4 Ev alu at ing PTPVCM D
Parameter PTPVCMD (position comm and generator velocity) reports the
derivative of the position com mand profile in velocity units. PTPVCMD is useful
for recording and viewing the actual velocity and the velocity com mand, which is
available only as a derivative of the position profile.
PTPVCMD is the t raject ory velocity comm and applicable to all position loops.
N ote: VCMD is the output velocity com m and of the linear cont roller.
VCMD is not used in HD (nonlinear) cont r ol.
The following figure shows an exam ple of a PTPVCMD recording that indicates
poor perform ance.
Figur e 9 - 2 0 . PTPVCMD Poor Result
9 .6 .5 Ev alu at ing I CM D an d/ or PE Oscillat ion s
The following figure shows an exam ple of oscillations in I CMD (current
com m and) and PE (position error) that indicate poor perform ance.
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