D
D
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C
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S
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3
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0
3
3
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D
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i
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g
i
i
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t
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l
l
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r
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R
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v
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.
.
0
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Tel: (86)755-26434369
26
Website: www.leadshine.com
Figure 6-14: CurveSetting tab
In
CurveSetting
tab, the user can choose curves displayed in digital scope of
Position Loop Tuning
window and
DigitalMonitor
window, and set their
Trace
Time
. These curves includes
Current Following Error
(i_err),
Velocity Following
Error
(v_err),
Position Following Error
(p_err),
Current Feedback
(i_bak),
Velocity Feedback
(v_bak),
Position Feedback
(p_bak),
Current Command
(i_ref),
Velocity Command
(v_ref),
Position Command
(p_ref).
i_err: Current Following Error
.
The difference between commanded current and
the actual measured current.
v_err: Velocity Following Error
.
The difference between commanded velocity and
the actual measured velocity.
p_err: Position Following Error
.
The difference between commanded position and
the actual measured position.
i_bak: Current Feedback
.
This is the actual measured current in motor coil. Ideally,
D
D
C
C
S
S
3
3
0
0
3
3
D
D
i
i
g
g
i
i
t
t
a
a
l
l
D
D
C
C
S
S
e
e
r
r
v
v
o
o
D
D
r
r
i
i
v
v
e
e
r
r
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
Tel: (86)755-26434369
27
Website: www.leadshine.com
this value should be as close as possible to the commanded current.
v_bak: Velocity Feedback
.
This is the actual measured velocity measured by the
encoder. Ideally, this value should be as close as possible to the commanded
velocity.
p_bak: Position Feedback
.
This is the actual measured position measured by the
encoder. Ideally, this value should be as close as possible to the commanded
position.
i_ref: Current Command
. This is the commanded current.
v_ref: Velocity Command
.
This is the commanded velocity.
p_ref: Position Command
.
This is the commanded position.
Trace Time: Trace Time
.
This is the trace time of the digital scope.
Start/Stop
button: The user can start or stop self-test by clicking this button.
Ø
Digital_monitor
l
Digital Monitor
: Displays curves and dynamic values of different point of
different curves.
Figure 6-15: Digital scope window
