Chapter 3 – Configuration
27
Tuning Settings
Tuning settings are divided into two groups: primary and advanced. Tuning can be
done in torque, velocity, or position mode. Tuning procedures for each of these
modes are presented below. Relevant commands are:
Primary Tuning – Torque Mode Commands
Command Description
Options:
DIBW
current loop bandwidth
you enter a number
Primary Tuning – Velocity Mode Commands
Command Description
Options:
DVBW
velocity loop bandwidth
you enter a number
Primary Tuning – Position Mode Commands
Command Description
Options:
DPBW
Position loop bandwidth
you enter a number
Advanced Tuning – All Mode Commands
Command Description
Options:
DIBW
current loop bandwidth
you enter a number
DVBW
velocity loop bandwidth
you enter a number
DPBW
position loop bandwidth
you enter a number
SGIRAT
current (torque) damping ratio you enter a number
DNOTAF
notch filter A frequency
you enter a number
DNOTAQ
notch filter A quality factor
you enter a number
DNOTBF
notch filter B frequency
you enter a number
DNOTBQ
notch filter B quality factor
you enter a number
DNOTLD
notch lead filter frequency
you enter a number
DNOTLG
notch lag filter frequency
you enter a number
Advanced Tuning – Velocity Mode Commands
All of the torque mode advanced tuning commands are available, plus:
Command Description
Options:
SGVRAT
velocity damping ratio
you enter a number
SGINTE
integration ON/OFF
can be turned on or off
Advanced Tuning – Position Mode Commands
All of the torque mode advanced tuning commands are available, plus:
Command Description
Options:
SGPSIG
position/velocity bandwidth
you enter a number
ratio
SGPRAT
position damping ratio
you enter a number
SGINTE
integration ON/OFF
can be turned on or off
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