Kollmorgen BDS5, Installation And Setup Manual, Page: 67 / 150

BDS5 C
HAPTER
3 - O
PERATION
3-5
Figure 3.2. Underdamping
3.3.3 Overdamping
An overdamped system is very stable but has a longer
response time than critically damped or underdamped
systems. Also, overdamped systems are noisier than
less damped systems with the same response rate.
The graph in Figure 3.3 shows an overdamped
system.
Figure 3.3. Overdamping
3.3.4 Ringing
When you are tuning the BDS5 you may tune it so
that the response rings. Ringing is caused when you
attempt to tune the BDS5 for either too rapid
response (too high bandwidth) or too much stability
(too much damping) or both. The only solution is to
reduce the bandwidth or the stability or both. In
Figure 3.4, the graph shows a system that rings.
Figure 3.4. Ringing
3.4 TUNING
The TUNE command shakes
the motor vigorously. Secure
the motor before tuning.
The BDS5 is usually shipped with a tuning that will
work reasonably well with the load inertia between 0
to 4 times the rotor inertia. Many applications have
approximately matching inertia. If your system does,
you may not have to adjust the tuning of your BDS5.
The following section describes how you can re-tune
your system.
When tuning a system, it may
be desirable to disable the
BDS5 quickly. You can use K,
the KILL command, to disable
with a one-letter command.
The BDS5 provides self-tuning. This is a feature that
senses the inertial load of your system and then
attempts to set tuning parameters accordingly. Note
that self-tuning is not fool-proof. You may need to
adjust one or two of the tuning parameters to get
exactly the response you need.
WARNING
NOTE