HIWIN MIKROSYSTEM CORP. 10-1
10. Tuning
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10. Tuning ······························································································································· 10-1
10.1 Tuning overview and function ··························································································· 10-2
10.1.1 Flow chart for tuning ································································································ 10-2
10.1.2 Tuning functions ····································································································· 10-3
10.2 Precautions during tuning ································································································ 10-3
10.2.1 Overtravel setting ···································································································· 10-4
10.2.2 Torque limit setting ·································································································· 10-4
10.2.3 Setting alarm value for overflow position deviation ·························································· 10-4
10.3 Tuneless function··········································································································· 10-6
10.3.1 Operating procedure ································································································ 10-6
10.3.2 Setting tuneless function ··························································································· 10-7
10.3.3 Alarm and corrective action ······················································································· 10-7
10.3.4 Ineffective parameters while executing tuneless function ················································· 10-8
10.3.5 Related parameters of tuneless function ······································································· 10-8
10.4 Auto tuning ··················································································································· 10-8
10.4.1 Overview ··············································································································· 10-8
10.4.2 Precautions before executing auto tuning ····································································· 10-9
10.4.3 Causes and corrective actions for auto tuning failure····················································· 10-10
10.4.4 Related parameters of auto tuning ············································································ 10-11
10.5 Adjusting application function ························································································· 10-12
10.5.1 Setting current gain level ························································································ 10-12
10.5.2 Selecting velocity detection method··········································································· 10-12
10.5.3 P (proportional) control ··························································································· 10-13
10.6 Manual tuning ············································································································· 10-14
10.6.1 Adjusting servo gains ····························································································· 10-14
10.6.2 Gain parameters ··································································································· 10-16
10.6.3 Torque command filter ··························································································· 10-17
10.6.4 Vibration suppression ····························································································· 10-24
10.6.5 Ripple compensation function ·················································································· 10-28
10.7 Common functions for tuning ·························································································· 10-29
10.7.1 Feedforward ········································································································ 10-29
10.7.2 Torque feedforward and velocity feedforward ······························································ 10-30
10.7.3 Position integration ································································································ 10-33
10.7.4 P/PI mode switching selection ·················································································· 10-33
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