CDHD
8 User Manual
9.6 Recording and Evaluating Performance ...................................................... 206
9.6.1 Diagnostics ................................................................................. 206
9.6.2 Recording Dat a in ServoStudio ...................................................... 207
9.6.3 Recording Dat a in Term inal ........................................................... 209
9.6.4 Evaluating PTPVCMD .................................................................... 210
9.6.5 Evaluating ICMD and/ or PE Oscillations .......................................... 210
9.7 Low Pass Filter on Current Comm and ........................................................ 211
9.8 Gearing Filters ........................................................................................ 213
9.9 Move Sm oot hing Filter ............................................................................. 214
9.10 Notch Filters........................................................................................... 215
9.11 Ant i-Vibration Filters ............................................................................... 215
9.12 Gains – Manual Tuning ............................................................................ 220
9.13 Flexibility Com pensation Tuning ................................................................ 223
9.14 Tuning Issues – Q&A ............................................................................... 224
1 0 Dia gnost ics an d Tr oubleshoot ing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 2 2 5
10.1 Report Generat or .................................................................................... 225
10.2 Faults and Warnings ................................................................................ 225
10.3 Fault, Warning and Error Codes and Messages............................................ 226
10.3.1 Warnings .................................................................................... 226
10.3.2 Faults ......................................................................................... 228
10.3.3 Errors ......................................................................................... 231
10.4 Fieldbus Status – LEDs ............................................................................ 235
10.4.1 CANopen .................................................................................... 235
10.4.2 Et herCAT .................................................................................... 235
10.5 Drive Status – 7-Segm ent Display ............................................................ 236
10.6 7-Segment Code Descriptions .................................................................. 237
1 1 CDH D Acce ssorie s _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 2 8 9
11.1 Line Filters ............................................................................................. 289
11.2 Regeneration Resistors ............................................................................ 290
11.3 D9-RJ45 Adapter .................................................................................... 291
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