8. Drive Debugging
8.1 CDHD2SHD controller
The CDHD2S has two user-selectable position control loops - linear and HD (non-linear).
The HD control loop is a proprietary algorithm designed to minimize position errors during
movement and settling time at the end of movement.
The HD algorithm uses a parallel configuration where all branches are executed at the same
level and within the same sampling period. Introduce variable gain on each branch and
automatically optimize for high gain and stability.
The HD controller also includes an adaptive feedforward feature that is applied at the end of
the movement to deliver zero or minimal settling time. In addition, the HD controller provides low-
pass, notch, and other filters to handle flexible and resonance systems.
The ServoStudio2 Position Control Loop screen provides user-modifiable access to HD control
loop parameters.
Figure 8-1 CDHD2SHD control loop
8.2 CDHD2SHD Controller Autotuning
Warning! Tuning is potentially dangerous. Before starting any tuning procedure, make sure
no one is within the motion envelope curve and that the panic button is within reach.
Perform autotuning on the HD control loop of the CDHD2S. There is no autotuning procedure
for linear control loop.
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