Parker Automation Gemini GV6K, Command Reference Manual

Page: 265 / 362

Command Descriptions 263
SGIRAT
Current Damping Ratio
Type
Tuning
Syntax
<a_><!>SGIRAT<r>
Units
r = ratio
Range
0.500 to 2.000 : ±0.001
Default
1.000
Response
SGIRAT: *SGIRAT.775
See Also
DIBW, SGPSIG, SGPRAT, SGVRAT, TGAIN, TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
SGIRAT
command sets the damping ratio (Zeta) of the current loop. Higher values produce a more stable
current loop response. Lower values provide faster current response but increase current overshoot.
Working with servo gains .
•
Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help
system.
•
Check the values of all active gains (
SGIRAT
is one of many servo gains): use
TGAIN
.
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET .
SGPRAT
Position Damping Ratio
Type
Tuning
Syntax
<a_><!>SGPRAT<r>
Units
r = ratio
Range
0.500 to 2.000 : ±0.001
Default
1.000
Response
SGPRAT: *SGPRAT.542
See Also
DPBW, LDAMP, LJRAT, SGIRAT, SGPSIG, SGVRAT, TGAIN, TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
SGPRAT
command sets the damping ratio (Zeta) of the position loop. Higher values produce a more
stable position loop. Lower values provide faster position response but increase position overshoot.
Working with servo gains .
•
Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help
system.
•
Check the values of all active gains (
SGPRAT
is one of many servo gains): use
TGAIN
.
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET
.
SGPSIG
Velocity/Position Bandwidth Ratio
Type
Tuning
Syntax
<a_><!>SGPSIG<r>
Units
r = ratio
Range
0.100 to 2.000 : ±0.001
Default
1.000
Response
SGPSIG: *SGPSIG1.250
See Also
DMODE, DPBW, SGIRAT, SGPRAT, SGVRAT, TGAIN, TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
SGPSIG
command sets the ratio (frequency spread) between the internal velocity loop bandwidth and
the position loop bandwidth (
DPBW
). When operating in one of the position modes (see list below), the
velocity loop bandwidth will track position loop bandwidth adjustments, with the ratio set by
SGPSIG
.
Position modes are
DMODE12
and
DMODE17
(see
DMODE
for descriptions).
Working with servo gains .
•
Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help
system.
•
Check the values of all active gains (
SGPSIG
is one of many servo gains): use
TGAIN
.
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET
.
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