Initial Operation and User Interface
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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
5.9.3 Controller Data Fine-Tuning
If you want to manually parameterise motors not supplied by igus
®
, observe the following instructions.
CAUTION!
A current controller with incorrect settings may damage the dryve D1 or the connected motor!
Excessively high currents might be supplied to the motor!
CAUTION!
Inappropriate Control Data tuning may lead to unforeseeable movements and vibrations. This may result in an accident or
equipment damage.
The Controller Data must be altered must small steps only!
NOTE
If a Stepper Motor or DC-Motor is operated in
, only the current control parameters needs to be set
1.
Select comparable motor from the igus
®
product catalogue. Check whether the motor has a mounted encoder and/or
brake
2.
Select the motor on the "Motor" page and click "Apply"
3.
Go to the
“Oscilloscope” page and make a note of the “Controller Data”
4.
Go back to the "Motor" page and select "Custom article"
5.
Enter the specific currents for the non- igus
®
motor and confirm by clicking on "Apply"
6.
Return to the "Oscilloscope" page
7.
Enter the
“Controller Data” previously noted
8.
Go to the "Drive Profile" page and enter parameters leading to a
acceleration, velocity and deceleration as used in your application
9.
Set "Enable" on the "Inputs/Outputs" page or by an external signal to DI 7
10. Go to the "Drive Profile" page and start the oscillating movement
11. Go to the
“Oscilloscope” page and fine-tune the “Controller Data” while the motor is moving
NOTE
Until a feel of how to correctly fine-tune the combination of dryve D1, motor and linear or rotary axis in your application is
gained, modifications should be done following magnitudes only.
Current Amplification P
≤ 1
Current Time Constant I
≤ 10
Velocity Amplification P
≤ 0.1
Velocity Time Constant I
≤ 0.1
Position Amplification P
≤ 10
16. Make a note of the
“Controller Data” found
17. Stop the movement and repeat the procedure for medium and slow rates of acceleration, velocity and deceleration
18. Once again, make a note of the
“Controller Data” found
19. Fine-tune the
“Controller Data” at a motor standstill with “Enable” being set
20. Once again, make a note of the
“Controller Data” found
21. Compare all the
“Controller Data” found and calculate the averages of the individual parameters
22. Enter the average value in the respective field of the
“Controller Data”
