Appendix
48
XtrapulsCD1-pm - User manual
The auto-tuning procedure identifies the characteristics of motor and load and calculates the controller gains.
During the procedure, various choices are available to the user.
The choice of the time interval for speed measurement (speed measurement filter) allows selecting the speed
measurement resolution value according to the position sensor resolution value:
speed resolution (rpm) = 60000 / position sensor resolution (ppr) / time interval (ms).
The higher the time interval value, the better the resolution, but also the lower the servo loop gains because of the
increased speed measurement delay.
The choice of the anti-resonance filter is necessary in case of loud noise in the motor due to the motor/load
coupling elasticity.
The choice of the maximum stiffness filter allows the maximum stiffness on the motor shaft with regard to the
torque disturbances. However, this choice is only possible without any resonance due to the motor/load coupling
elasticity.
The choice of the speed loop bandwidth defines the cut-off frequency value of the closed loop frequency
response (Low = 50 Hz, Medium = 75 Hz, High = 100 Hz).
The choice “
minimum following error
” allows an accurate following of the position reference value during the
entire motor displacement. In this case, all feedforward gain values are calculated.
The choice “
minimum position overshoot
” allows a motor positioning without any overshoot of the target
position. In this case, all the feedforward gain values are set at 0, and the motor position is lagging with regard to
the position reference value during the whole motor displacement.
2
– USE OF THE SERIAL LINK
2.1
– OVERVIEW
Specifications of the serial link:
- 8 data bits, 1 stop bit, no parity,
- 19200 baud.
The parameters can be sent to the amplifier by an ASCII terminal using the instructions list given in this section.
Each instruction is coded as 2 ASCII characters with or without parameter.
Each instruction, which can be followed by one or two parameters sent to the amplifier, must end with a "carriage
return" character (ASCII code 13). The parameters must be separated by a ',' (ASCII code 44).
All these characters, except for the "carriage return", will be sent back by the amplifier (echo).
The amplifier answer starts with a separation character ":" (ASCII code 58) possibly followed by a value. The
amplifier will then send a "carriage return", a "line feed" (ASCII code 10) and ">" (ASCII code 62).
These instructions allow modifying or to read the value of a variable. If there is a parameter, the variable
corresponding to the instruction will take this value. Otherwise, the amplifier will send back the actual variable
value.
Notes :
- If the amplifier does not know the instruction, it will send back "?" instead of ":".
- Some instructions are only valid when the amplifier is disabled.
- If the entered parameter is out of the appropriate variable range or if the restrictive condition (amplifier
disabled) is not answered, the parameter will not be taken into account (the amplifier will keep the former
variable value).
- The amplifier must work in hexadecimal mode for communicating with the ASCII terminal: VT-100 stand-alone
mode must not be selected.
