S94P01C -e1
60
Stop increasing the gain once you see oscillation appearing on either the
current waveform or velocity waveform flat portion. Then lower the P-gain
until the oscillation disappears
S951
13. Slowly increase the “Velocity I-gain” and watch for an overshoot on the motor
velocity waveform. Stop increasing the setting when overshoot just starts to
occur or is very narrow. The setting should be less then 5mS or less then
3-5%, if a steep acceleration/deceleration is desired in your servo system. If
stiffness at low velocity or stall torque is desired then the “Velocity I-gain” can
be increased allowing step overshoot up to approximately 15-30%.
14. Finally, check the motor Iq current. Set the oscilloscope Channel 1 source to
Iq current. Observe the current waveform to insure that there is no significant
oscillation.
15. Click “Indexer” -> “Stop” or alternatively Alt+F5 on the keyboard to stop the
program. Remove voltage from IN_A3 input.
16. Depending on the application you may want to set parameters “Reference”
and “Enable switch function” to appropriate values. Refer to section 6 for
details.
8.7 Tuning in Position Mode
For an application in position mode, it is required to tune the drive in velocity mode
and then in position mode.
1. Perform velocity loop tuning as per section 8.6. Select I-Gain value for
minimum overshoot.
2. Make sure that the drive is disabled.
3. From the node tree select <Indexer program>. The drives current program
will appear in the View Window. Click anywhere in the View Window to
activate the tool bar. From the MotionView Menu select <Indexer>, <Import
program from file>. Navigate to the following folder MotionView6._ _ / Help
/ 940Exapmles. Select the TuneP program and click Open. Click on the
Compile and download button on the toolbar to load the program to the drive.
4. Select “Tools” then “Oscilloscope” tool from node tree.
