6. Activate the recording mechanism to record velocity command, current command and actual
(feedback) velocity: RECORD11024 "VCMDICMDV
7. Jog the motor at constant low velocity: J[value 1]
For example: start with command J150
8. Activate recording trigger: RECTRIGVCMD[value2]201.
Value 2 should be greater than value 1 from the previous step; for example:
RECTRIGVCMD200201.
9. Jog the motor at a velocity higher than that specified in the RECRTIG command. This is
actually a step command. The higher the step size, the better the results. The step distance should
be no less than 300(rpm). For example: J500.
10. Recording takes about half a second. After this, reduce the motor velocity.
11. Check whether the recording process is terminated: REC is completed.
12. Display data recorded by dumping to serial port: GET
13. Analyze the results.
If the current command is saturated during the process (the absolute value of ILIM is obtained),
reduce the step size or bandwidth, and then return to step 6.
14. Check the feedback velocity:
◼ If a negative pulse signal or vibration occurs, reduce the load/motor inertia ratio
(LMJR) to the average value of the current load/motor inertia ratio (LMJR) and the last
load/motor inertia ratio (LMJR) with an overshoot signal, and then Go back to step 6.
◼ If an overshoot signal occurs, increase the load/motor inertia ratio (LMJR) by 100, and
then return to step 6.
◼ Repeat the process until tje overshoot is minimized
(Load/motor inertia ratio (LMJR) may ask for estimated load inertia.)
7.5 Position Operation
7.5.1 Serial position operation
CDHD2S has a dedicated operation mode (OPMODE8) for simple serial port positioning
applications. The host transmits serial commands through the serial port. The command specifies
the target position and cruise velocity, and sets additional trajectory information (such as
acceleration, deceleration and trajectory type) with explicit variables.
In the ServoStudio2 "Movement" screen, select "Operation Mode" - Serial Position, which is
used to modify and test parameters.
Table 7-1
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