IPA Troubleshooting - ETT Actuator Noise

As the analog hall sensors are used for position feedback, set LOPASS. A good value for most applications will be 200Hz. Set this in a PBOOT program so that it's set every time on power-up or set it within the defines.

LOPASS X 200         : REM  This is p12386, lopass filter (frequency cutoff in Hertz)

Unloaded ETT025-S2 with 150mm stroke  Tuning gains:

PGAIN X 0.001        : REM Proportional Gain

DGAIN X 0.00001    : REM Derivative Gain

Note the pitch distance (1 electrical cycle = 2 motor poles) = 60mm on all of the ETTs and the encoder resolution (ERES) is 4096 counts over that distance.  These are already set in the IPA in the motor configuration file.

Open

As of version 6.4.1 of ACR-View the Auto Inertia detection within the Configuration Wizard for the ETT does not work. 

6/10/16jh