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Autopilot Installation Manual
4.2
Autopilot Settings
how servo is installed. In long term, try to find the lowest value, which
still provides enough torque.
Holding power
defines how much power is used when motor is not moving.
This value depends on the power value above. If it is set to 50% this
means that motor will use 50% of the torque set with the power param-
eter. For example, if power is set to 70% and holding power is set to
50%, the motor will use 35% of maximal power (torque) at standstill.
Backlash
defines the amount of command system
free
travel, which is a com-
bination of free play and elastic command resistance. It is given in
degrees of servo arm movement. In ideal circumstances this shall be
zero, but this is seldom the case.
Max speed
is the maximal speed of servo arm movement in degrees per sec-
ond. This value is usually set between 10 and 30 deg/s.
PPR
tells how many pulses are needed for one rotation of internal stepper
motor (always 200 for current servos). This is servo motor characteris-
tics and shall not be changed.
Reduction
is the gearbox reduction factor between the arm and stepper mo-
tor. (This factor is 4.57 for recent servos. But factors between 4 and
5 are also in use.) This is servo motor characteristics and shall not be
changed.
In general,
PPR
,
Reduction
and
Max speed
shall not be changed and original
values shall be kept. Change them only if Kanardia support team approves
the changes.
4.2.2
Ground Test
The ground test is used to check correct servo motor movement. Figure 8
illustrates available options.
20
©
Kanardia
2016-2020
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