37
CHAPTER 6 – Commissioning
SMT-BD2/m
♦
Enter the servo motor
Encoder resolution
value.
♦
Adjust
the
Speed limit
according to the motor and encoder specifications.
♦
Adjust
the
Current limits
according to the motor and amplifier specifications.
♦
Uncouple the motor from the mechanical load and check that the free motor movement over 1 revolution, or
1 pole pitch for linear motors, is not dangerous for the operator. Then execute the
Auto-phasing
procedure.
♦
Calculate
the
Current phase lead
value (this parameter is especially useful for motors with a low inductance
and running at high speeds).
Select the
Encoder output
resolution.
For a Sin/Cos encoder type, select the
Pulse interpolation
mode.
Couple the motor to the load ; in the case of an axis with an unbalanced load (constant torque due to the gravity
effect on a vertical axis),
of this chapter. Desactivate the motor brake if used. Check that the
free motor movement over 1 revolution, or 1 pole pitch for linear motors, is not dangerous for operator and
machine. Select the most apropriate filter and bandwidth; then execute the
Auto-tuning
procedure.
In case of loud noise in the motor at standstill and when running, check the rigidity of the transmission between
motor and load (backlashes and elasticities in gears and couplings). If necessary, renew the
Auto-tuning
procedure by selecting a lower bandwidth (
Bandwidth
=
Medium
or
Low
). If the problem remains, renew the
Auto-tuning
procedure by activating the
Antiresonance
filter.
Adjust the
manual mode
parameters : Jog speed, Jog accel and decel time, then test the motor running in both
directions by using the Jog inputs. If required, adjust with more accuracy the servo loop response stability by
means of the
Stability gain
buttons or by means of the adjustable gain values.
3.5
-
A
MPLIFIER AUTO
-
TUNING WITH AN UNBALANCED LOAD
Check that the Enable input is activated and the Run input desactivated.
Execute a first
Auto-tuning
procedure with the motor uncoupled from its mechanical load in order to initialize the
gain values before coupling the motor to the load again.
Select the current limitation in
Limiting
mode. Check that the limit switches and the motor brake are correctly
operating before starting the
Auto-tuning
procedure.
Activate both Enable and Run inputs. Move the shaft in Jog mode until a maintaining position (far enough from the
axis limit switches) where a free movement over 1 revolution, or 1 pole pitch for linear motors, is not dangerous for
operator and machine. Then execute the
Auto-tuning
procedure. In case of loud noise in the motor at standstill
and when running, check the rigidity of the transmission between motor and load (backlashes and elasticities in
gears and couplings). If necessary, renew the
Auto-tuning
procedure by selecting a lower bandwidth (
Bandwidth
=
Medium
or
Low
). If the problem remains, renew the
Auto-tuning
procedure by activating the
Antiresonance
filter.
Test the motor running in both directions in Jog mode. If required, adjust with more accuracy the servo loop
response stability by means of the
Stability gain
buttons or by means of the adjustable gain values.
Go back to the motor standstill position before desactivating the Run or the Enable input.
The
Auto-tuning
procedure should be executed with the Enable input activated and the Run input
desactivated. If the
Auto-tuning
procedure must be executed with the drive under servo control
(Enable and Run input both activated). It is the user's responsibility to take all necessary steps in
order to reduce the risk due to uncontrolled axis movements during the
Auto-tuning
procedure.
!
In the case of an axis with an unbalanced load (constant torque due to the gravity effect on a vertical
axis), the incremental encoder configuration without HES is not valid because the motor phasing
procedure at power up cannot be executed.
!
During the
Auto-tuning
procedure execution with an unbalanced load (constant torque due to the
gravity effect on a vertical axis), a wrong operation may involve dangerous axis movements. It is the
user's responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis
movements during the operator's presence in the concerned area.
!
