56
Possible procedure:
a.) Set parameters of velocity controller:
1.) First of all you have to choose the right sampling rate for the velocity controller depending
on the encoder resolution. With less encoder pulses, e.g. 64 pulses per revolution, you need a
lower sampling rate e.g. 1.8 ms = SR18. For BL motors with internal encoder (3000 pulses per
revolution) the maximum sampling rate SR1 is recommended.
Set initial configuration:
Controller amplification = 8; POR8
Integral term = 20; I20
Speed at 1/3 of the maximum application speed (example V1000)
Set acceleration to highest value of the application (example AC10000)
2.) Increase controller amplification (step width 5, less subsequently); POR 13
3.) Preset velocity jump from 1/3 of maximum speed to 2/3 (example V2000)
4.) Velocity jump from 2/3 to 1/3 and monitor behaviour (example V1000)
5.) Repeat steps 2 to 4, until the controller becomes unstable. Then reduce controller amplification
until stability is reliably ensured.
6.) Follow steps 2 to 5 with integral term.
b.) Set parameters of position controller:
1.) Set initial configuration
Default value for P term: 8; PP8
Default value for D term: 15; PD15
2.) Motion profiles appropriate for the application must now be run. If the system does not func-
tion stably with these settings, stability can be achieved by reducing the I term of the velocity
controller or reducing the P term of the position controller.
3.) The P term of the position controller can now be increased until the system becomes unstable,
in order to optimise the motion profile.
4.) The stability can then be reinstated using the following measures:
Increasing the D term of the position controller (example: PD20)
Reducing the I term of the velocity controller
Special mode for position control:
The SR command can be used to activate a special position control mode. To this end, the value 100
must be added to the required SR setting.
Example:
Required SR10 setting
with special mode:
SR110
.
If this mode is activated, the parameter POR is successively reduced in a position-controlled applica-
tion as soon as the drive in within the target corridor (can be set using the CORRIDOR command).
This enables a much "gentler" stoppage to be achieved after reaching the target position. As soon
as the drive is removed from the set target position, POR is immediately increased again to the set
value.
4 Functional Description
4.8 Technical information
