Commissioning
Proportional velocity controller component Kp (MDP742: Index
0x8010:15 [
}
166]
/
DS402: Index
0x2002:15 [
}
147]
)
The values specified here are exemplary, although in most cases they have led to excellent results.
Depending on the application, other values may yield better results.
• Increase the value, until the motor starts to oscillate slightly. Then reduce the value by 80%.
6.2.4
NC settings
(Master TwinCAT 2.11 R3)
The data given here serve as an example for a servomotor type AM8122-0F20-0000 from Beckhoff
Automation. For other motors the values may vary, depending on the application.
Table of contents
• Definition of the unit [
}
97]
• Selecting the maximum velocity [
}
98]
• Dead time compensation [
}
99]
• Setting the encoder mask [
}
99]
• Scaling factor [
}
100]
- Calculation of the scaling factor [
}
100]
- Scaling output [
}
101]
• Position lag monitoring [
}
101]
• Commissioning the motor with the NC [
}
102]
Several important parameters are required for the commissioning with the NC. These should be set as
follows before commissioning. A fundamental factor for setting the following parameters is the unit in which
the NC is set to operate. For the following parameters it was assumed that one revolution corresponds to
360°.
Definition of the unit
The unit can be defined in the
Settings
tab for the axis.
EL72x1-0010
97
Version: 2.0
Summary of Contents for EL7201-0010
Page 2: ......
Page 47: ...Commissioning Fig 42 TCP IP setting for the Ethernet port EL72x1 0010 47 Version 2 0 ...
Page 57: ...Commissioning Fig 61 EtherCAT terminal in the TwinCAT tree EL72x1 0010 57 Version 2 0 ...
Page 119: ...Commissioning Fig 148 Touch Probe inputs EL72x1 0010 119 Version 2 0 ...
Page 138: ...Commissioning Fig 168 Process Data tab SM2 EL72x1 0010 default EL72x1 0010 138 Version 2 0 ...
Page 142: ...Commissioning Fig 171 Process Data tab SM2 EL72x1 0010 default EL72x1 0010 142 Version 2 0 ...