Kollmorgen
Commissioning
SILVER
LINE
®
Product Family
5-5
For demanding applications, you may need performance beyond that attainable by adjusting S2 and the
GAIN pot. In this case, the velocity loop option card provides positions for a user-installed integrator
capacitor (C7) and lead capacitor (C28). These components are rarely used and determining their values is
beyond the scope of this manual. Refer to Figure 5-1 for more detail.
If C7 is left empty, at least one
switch in S2-1 to S2-3 must be
on.
5.1.4 Velocity Loop Tuning
To start, turn S2-1 on, and S2-2 and -3 off. This selects the highest velocity loop response. (S2-4, the test-mode
switch, should also be off).
Be prepared for the motor to run away when you enable the system. If the encoder or amplifier are wired incorrectly,
the motor will run full speed. If this happens, it may be because the system is phased backwards. If so, reversing
J201-3 and -4 will correct this problem.
If the encoder or amplifier are
wired improperly, the motor
may run away.
Be prepared for the motor to
run full speed.
To reverse direction of
rotation, exchange J201-3
and -4.
The velocity loop may be
unstable.
If the velocity controller is
unstable, reduce the velocity
loop GAIN pot by turning it
clockwise.
5.1.4.1 Setting Velocity Loop Gain
Adjust the velocity command reference until the motor speed is approximately 300-400 RPM. If an
adjustable command reference is not available, the OFFSET pot (R20) can be used as a command. Turning
S2-4 on will raise the sensitivity to the offset pot, allowing a much greater range than normal for offset
adjustment.
Turn the velocity loop GAIN pot (R21) CCW until the motor is unstable or undesirably "noisy." Back off
approximately one turn, or until the motor is stable again.
WARNING
NOTE
CAUTION
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