3
Rev. 1.0
0006302011
SSM23C User Manual
+86-400-820-9661
4.2.3 Electronic Gearing ................................................................................23
4.2.4 Positioning Error Fault ...........................................................................23
4.2.5 Maximum Acceleration ..........................................................................24
5 Tuning - Sampling ...................................................................... 26
5.1 Velocity Control Loop (V Loop) ........................................................26
5.2 Position Control Loop ......................................................................28
5.2.1 Gain: The Position Proportional Term (KP) ..........................................28
5.2.2 The Position Integral Term (KI) - Not Implemented ..............................28
5.2.3 Deri Gain: The Derivative Term (KD) ....................................................28
5.2.4 Deri Filter: Torque Command Filter Term (KE) .....................................29
5.4 Getting Ready for Tuning .................................................................31
5.5 Tuning the Velocity Loop ..................................................................32
5.5.1 Entering a Sample Move ......................................................................32
5.5.2 Performing a Move ...............................................................................33
5.5.3 Adjusting tuning parameters .................................................................33
5.5.4 Adding in the FF Gain (KK) parameter .................................................35
5.5.5 Filter parameter ....................................................................................35
5.5.6 Verify the Drive Current ........................................................................36
5.5.7 Finishing up ..........................................................................................36
5.6 Tuning the Position loop ..................................................................36
5.6.1 Entering a Sample Move ......................................................................36
5.6.2 Performing a Move ...............................................................................37
5.6.3 Adjusting the Gain (KP) and Deri Gain (KD) parameters .....................38
5.6.4 The Deri Filter (KE) parameter .............................................................38
5.6.5 Filter parameter (again) ........................................................................38
5.6.6 Verify the Drive Current ........................................................................38
5.6.7 Finishing up ..........................................................................................38
5.7 Using Auto Trigger Sampling ...........................................................38
