Beckhoff EP7402-0057, Manual

Page: 37 / 63

Commissioning
EP7402-0057 37 Version: 1.3
4.3 Fine-tuning parameters
4.3.1 Alignment phase and ramp-up phase
Use the following diagram to adjust the parameters of the alignment phase and the ramp-up phase. The CoE
indexes of the parameters are shown in the diagram.
n is the number of the motor channel.
Best practice for tuning a parameter:
1. Set the output variable “Enable” to 0
2. Adjust the desired parameter
3. Set the output variable “Enable” to 1
4. - Evaluate the result
- Check the Diagnosis bits [ } 42] for warnings or errors
- Try again if necessary.
80n3:19 "Rampup velocity"
Variable "Velocity"
time
velocity
time
"Enable"
1
0
80n3:18
"Rampup duration"
80n3:18
"Align duration"
Velocity controller operation
Motor channel 1 (X20): n = 2
Motor channel 2 (X21): n = 3
Place holder n
Fig. 9: Alignment phase and ramp-up phase parameters
4.3.2 Velocity controller
The velocity controller is a PI controller. The controller parameters are located in the CoE directory:
• Proportional gain K
p
: parameter 80n3:11
hex
“Velocity loop integral time”
• Integral time T
i
: CoE parameter 80n3:12
hex
“Velocity loop proportional gain”
• Parameter 80n3:13
hex
“Feed forward gain”
You can disable the velocity controller by setting the proportional gain K
P
to zero.