Baldor MintDrive, Installation Manual

Page: 72 / 155

59
If KPROP is increased too far,
overshoot or ringing will occur. The
plot opposite shows the effect of
setting KPROP to a value of 7.
This overshoot and/or ringing can
be reduced by introducing a
damping term - either KVEL or
KDERIV...
7. The plot opposite shows how
applying a value of 0.25 to KVEL
(with KPROP set to 4.7), causes a
response with a small overshoot but
which settles quickly.
The ideal response is to have a
sharp (square) response with very
little overshoot and no oscillations.
The Step Response Statistics tab
shows measured values which can
be used as a further guide to tuning.
8. When you have tuned the motor,
click Next > to continue.
4.3.4 Jog test
This tab allows you to perform a jog test on the motor. This will start the motor rotating at a preset speed
until it is stopped by you.
1. Set the demand speed and accelerations by clicking in
the bottom three boxes and typing the required values.
2. Click either Jog -ve or Jog +ve to perform the test.
The Stop button stops the movement.
The top two boxes show real-time information about the
jog move.
When you have completed your tests click Stop , followed
by Disable Drive .
3. Click Next > to continue.
Measured position
Demand position
Measured position
Demand position