Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | Table of Contents
12.3.1 Overview 87
12.3.2 Determining Tuning Criteria 88
12.3.3 Before You Tune 88
12.3.4 Closed Loop Tuning Methods 88
12.3.4.1 Tuning the Velocity Loop 89
12.3.4.2 Tuning the Position Loop 91
12.3.5 Torque Feedforward Tuning Methods 91
12.3.5.1 Shape Based Feedforward Tuning 91
12.3.6 Using Anti-Resonance Filters 92
12.3.6.1 Types of Anti-Resonance Filters 92
12.3.6.2 Biquad Calculations 99
12.3.6.3 Common Uses Of Anti-Resonance Filters 102
13 Scope 103
13.1 Overview 103
13.2 Using the Scope 103
13.2.1 Scope Channels Tab 103
13.2.1.1 Source Column 103
13.2.1.2 Color Column 104
13.2.1.3 Hide Column 104
13.2.1.4 Y-Axis Column 104
13.2.1.5 Filter and Filter Frequency Column 104
13.2.2 Scope Time-base and Trigger Tab 104
13.2.2.1 Scope Time-base and Trigger, More View 105
13.2.2.2 Trigger Type 106
13.2.2.3 Trigger Position 106
13.2.2.4 Trigger Value 107
13.2.2.5 Effects of Recorder Gap 108
13.2.2.6 Trigger Slope 109
13.3 Scope Settings 109
13.3.1 Load a setting (preset) to Scope screen 110
13.3.2 Create a new preset 110
13.3.3 Save or delete preset 110
13.3.4 Import preset 110
13.3.5 Export preset 111
13.3.6 Scope axis scaling and zooming 112
13.3.7 Manual range per axis 113
13.3.8 Unit display on Y axis 113
14 Using Parameters and the Terminal Screen 114
14.1 Terminal 115
14.1.1 Overview 115
14.1.2 Using the Terminal 115
14.1.3 Macros 116
Creating a Macro from Terminal commands 116
Macro Editor 117
14.2 Parameter List 117
6 Kollmorgen™ | December 2012