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Gemini GT Hardware Installation Guide
Use the following procedures to configure the damping settings. You can usually
find the best setting by using touch or sound. If this is not adequate, use a tachom-
eter attached directly to the motor by means of a stiff coupler.
Configuring ABS Damping (DABSD)
The default setting is
disabled. (DABSD0)
1.
To turn ABS damping
on, use the DABSD command. (DABSD1)
2.
If you use a Parker motor, the following parameters are automatically set when you
use the configuration utilities (Motion Planner or Pocket Motion Planner) to select a
motor. You do not need to enter values for them now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command:
Motor Parameter:
DMTRES
motor resistance
DMTIND
motor inductance
The figure below shows performance with ABS Damping, with Electronic Viscosity,
and without damping.
Undamped
40 ms
100 ms
400 ms
Time
Velocity
ABS Damping
Electronic Viscosity
Damping Performance
Configuring Electronic Viscosity (DELVIS)
1.
Enter an accurate value for the load parameter, using the following command:
Command:
Parameter:
LJRAT
system load-to-rotor inertia ratio
2.
If you use a Parker motor, the following parameters are automatically set when you
use the configuration utilities (Motion Planner or Pocket Motion Planner) to select a
motor. You do not need to enter values for them now.
If you use a non-Parker motor, use the following commands to enter accurate
values for the specified motor parameters:
Command:
Motor Parameter:
DMTJ
rotor inertia
DMTSTT
static torque
DPOLE
number of motor pole pairs
DMTIC
continuous current
DMTIND
inductance
3.
Start with DELVIS set to 0, which is
disabled. (This is the default setting.)
4.
Increase DELVIS until your system performs as you require.
•
1 - 7 is the full range
•
5 provides optimal damping
•
0 is
off
The figure above shows performance with Electronic Viscosity, with ABS Damping,
and without damping.
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