MPH-02, MPB-02, MPD-02
Drive Control
6-61
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
For optimum parameterization of the acceleration feedforward the
following values have to be entered in parameter S-0-0348:
•
linear
motor
→
total mass (motor + load) in kg
•
rotary
motor
→
total mass inertia (motor + load) in kgm
2
Note:
The input value of parameter S-0-0348 has to be adjusted on
site, depending on the respective mechanical system!
The illustration below exemplifies the operating principle of the respective
feedforward procedure.
DK0019v1.fh7
v
t
t
v
t
t
lag errror
(S-0-0189)
lag error
(S-0-0189)
0% velocity feedforward (P-0-0040)
20%
40%
60%
80%
100%
operating principle of velocity feedforward
without accel. feedforward
with accel. feedforward
operating principle of acceleration feedforward
(with P-0-0040 = 100 %)
acceleration phase
Fig. 6-41:
Operating principle of the velocity and acceleration feedforward
Notes on Commissioning
The cascade structure of the loops requires the optimization of the
position loop to be only carried out after all outer control loops (velocity
and current) have been optimized, because in the case of a cascade loop
structure the dynamic response of the outer control loops limits the
dynamic response of the higher-level control loops.
To determine the critical position loop Kv-factor proceed as follows:
1. Let the drive move with low velocity in position control after switching
drive enable on:
•
linear
motor
→
1000 … 2000 mm/min
•
rotary
motor
→
10 … 20 rpm
Determining the Critical Position
Loop Kv-Factor
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
