Kollmorgen
Commissioning
SILVER
LINE
®
Product Family
5-6
When using velocity loop
option, be aware that both
cards have a gain pot. This
section refers to the pot on
the top (option) board.
5.1.4.2 Detuning the Velocity Loop
Detuning reduces the velocity loop response. This can be accomplished two ways: 1) reducing GAIN pot,
and 2) slowing the velocity loop integrator. The GAIN pot (R21) can be manually adjusted by the user (CW
for less gain), while the velocity loop integrator value is set by adjusting S2-1 through S2-3. Softer
response is achieved by setting more switches ON. Refer to Figure 5-1.
5.1.4.3 Checking the Velocity Loop Response
The response can be monitored on the TACH monitor (J201-5 and -6). Attach an oscilloscope and monitor
the motor velocity feedback. Velocity loop response should be tested by monitoring the TACH feedback on
large velocity transitions. Quickly switch the velocity command from 0 to max. Observe the motor velocity
feedback for overshoot and ringing. Adjust the GAIN pot or change the integrator value by turning
additional S2 switches ON (S2-1 to S2-3).
5.1.4.4 Setting Velocity Offset
Short the velocity command (short J201-1 and -2.) Verify S2-4 is off. Enable the S/O amplifier. The motor
should not be moving but should have holding torque. If the motor is rotating slowly, adjust the OFFSET
pot (R20) until motion ceases.
When using velocity loop
option, be aware that both
cards have an offset pot. This
section refers to the pot on
the top (option) board.
5.1.4.5 Check Velocity Command Scaling
Attach velocity command reference to J201-1 and J201-2. Apply the maximum velocity command which is
to be used. Adjust SCALE pot (R19) until motor velocity is at the maximum velocity desired. This sets the
ratio between RPM and velocity command voltage
5.2 STABILITY AND PERFORMANCE
Feedback systems such as motor controllers require tuning to attain high performance. Tuning can be a laborious
procedure requiring an experienced person. The S/O simplifies this by providing equations 4.1 through 4.4 (see
Section 4) for current loop tuning.
If you want to modify the standard current loop performance, or if you are tuning the optional velocity loop, you will
need to determine loop gains according to a three-part criterion:
•
Noise Susceptibility
NOTE
NOTE
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