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BONMET motion GmbH/www.bonmet.com/www.bonmet.de
4.5.3
Operation Flow Chart
Set Pn-40 to 0
Set internal
speed command
by Pn-88~Pn-103
Set Pn-4 to 1
Set the
acceleration and
deceleration time
Host sends pulse
command for a
trial operation
⑴
Select speed control mode.
⑵
Select internal command as speed command by Pn-40.
⑶
Set the internal speed command.
⑷
Set Pn-34 for acceleration time and Pn-35 for deceleration time.
⑹
In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.
Adjust the servo
gain
⑺
Make a trial processing and adjust the servo gain according to the
running status.
Set ServoEn ON
⑸
Set signal
“
ServoEn
”
ON or set Pn-8 to 100000, and the motor get the
power.
Pn-31
The first speed loop integral time
constant
The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the second speed
loop integral time constant automatically or manually (refer to chapter 5 section
4.8).
Pn-32
The first low-pass bandwidth of
speed loop
Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the
second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).
Pn-33
The first low-pass filter
bandwidth of torque command
Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.8).
Pn-36
The second speed loop
proportional gain
The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop proportional gain automatically or manually (refer to chapter 5 section
4.8).
Pn-37
The second speed loop integral
time constant
The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop integral time constant automatically or manually (refer to chapter 5 section
4.8).
Pn-38
The second low-pass bandwidth
of speed loop
Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the first
low-pass bandwidth of speed loop automatically or manually (refer to chapter 5
section 4.8).
Pn-39
The second low-pass filter
bandwidth of torque command
Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass filter bandwidth of torque command automatically or manually
(refer to chapter 5 section 4.8).
Pn-69
Enhancement of torque loop
response function
As set the value to 1, it can enhance the response of the torque, but it may cause
some current noise in the motor.
