OE Max Controls CSDP Plus, User Manual, Page: 97 / 254

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The set-up sequence of the default torque bias is as follows.
1. Check the revolving direction of the motor and the movement direction of
the load.
2. Stop the load at a certain position by using 0 speed control or normal
position control.
3. Check the torque command value while maintaining the system at a halt
and set the value at SEt-64 if it is in the forward direction and at SEt-65 if it
is in the reverse direction.
4. Fine tune the values with the current set values as standard while
watching the torque of the motor, speed, and position response.
If the default torque bias is fixed at a certain value but not 0, the
control begins at the moment of the servo ON and the value of the
torque command begins from the set value of the parameter. Since the
torque to maintain the motor at the current status is generated from
the beginning, the temporary fall of the load can be prevented.
Therefore, overshoot of the speed response can be restrained, and
consequently the position completion time can be reduced.
Gain Alternation
In some cases, the load alternates between the two different statuses.
For instance, a robot repeats a motion to lift up an object, carry it
somewhere, leave it there and come back to the original position at no
load status. If this kind of motion is repeated very quickly, online auto
tuning cannot be done smoothly. And if the same gains are used to
operate different load conditions, the response drops in a one-load
situation. In this case, /G-SEL signal is helpful.
ATTENTION
If the default torque bias is set too high, the load can
temporarily rise at the moment of the servo ON.