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Lenze AC Tech PositionServo 940, User Manual

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Lenze AC Tech PositionServo 940 User Manual Download Page 70

S94P01C -e1

68

 

S943

9.2.2  Optimal P-gain / D-gain Settings

Position P-gain 

= 

8700

Position D-gain 

= 

16000

Position I-gain 

= 

0

Position I-limit 

= 

0

 

Positive effect:

 Position error decreased. Oscillation eliminated by D-gain. 

 

Side effects:

 

Possible high noise produced by high P and D gains at 
0 velocity. This problem arises since encoder has finite 
resolution. A compromise might have to be made by setting the 
P-gain and the D-gain lower to smooth out the operation at 0 
velocity.

 

S944

Summary of Contents for AC Tech PositionServo 940

Page 1: ...USERS MANUAL S94P01C e1 S955 ...

Page 2: ...y kind with respect to this material including but not limited to the implied warranties of its merchantability and fitness for a given purpose AC Tech assumes no responsibility for any errors that may appear in this manual and makes no commitment to update or to keep current the information in this manual MotionView Positionservo and all related indicia are either registered trademarks or tradema...

Page 3: ... Power Connections 17 5 1 2 P2 Ethernet Communications Port 18 5 1 3 P3 Controller Interface 19 5 1 4 P4 Motor Feedback Second Loop Encoder Input 20 5 1 5 P5 24 VDC Back up Power Input 21 5 1 6 P6 Braking Resistor and DC Bus 22 5 1 7 Connectors and Wiring Notes 22 5 1 8 P11 Resolver Interface Module option module 22 5 1 9 P12 Second Encoder Interface Module option bay 2 24 5 2 Digital I O Details ...

Page 4: ... 6 3 14 Regeneration Duty Cycle 42 6 3 15 Encoder Repeat Source 43 6 3 16 System to Master Ratio 43 6 3 17 Second to Prime Encoder Ratio 43 6 3 18 Autoboot 43 6 3 19 Group ID 43 6 3 20 Enable Switch Function 43 6 3 21 User Units 43 6 3 22 Resolver Track 44 6 3 23 Current Limit Max Overwrite 44 6 4 Communication 44 6 4 1 Ethernet Interface 44 6 4 2 RS 485 Configuration 48 6 4 3 Modbus Baud Rate 48 ...

Page 5: ...EDs 54 7 3 Faults 54 7 3 1 FAULT CODES 54 7 3 2 Fault Event 55 7 3 3 Fault Reset 55 8 Operation 55 8 1 Minimum Connections 55 8 2 Configuration of the PositionServo 56 8 3 Position Mode Operation gearing 57 8 4 Dual loop Feedback 57 8 5 Enabling the PositionServo 58 8 6 Tuning in Velocity Mode 58 8 7 Tuning in Position Mode 60 9 Sample Motor Responses to Gain Settings 62 9 1 Motor Response to Gain...

Page 6: ...s of impending danger Consequences if disregarded Death or severe injuries Warning of a general danger WARNING Warns of potential very hazardous situations Consequences if disregarded Death or severe injuries Warning of damage to equipment STOP Warns of potential damage to material and equipment Consequences if disregarded Damage to the controller drive or its environment Information Note Designat...

Page 7: ...ce is when the commanded move is done via a host device over a communications network This Host device can be an external motion controller PLC HMI or PC The communication network can be over RS485 Point to Point or Modbus RTU Ethernet using MotionView DLL s Modbus over TCP IP or CANopen DS301 and DS402 Depending on the primary feedback there are two types of drives the Model 940 PositionServo enc...

Page 8: ... variable speed and torque applications with PM synchronous motors for installation in a machine for assembly with other components to form a machine are electric units for the installation into control cabinets or similar enclosed operating housing comply with the requirements of the Low Voltage Directive are not machines for the purpose of the Machinery Directive are not to be used as domestic a...

Page 9: ...Conditions of Lenze Drive Systems GmbH Warranty claims must be made to Lenze immediately after detecting the deficiency or fault The warranty is void in all cases where liability claims cannot be made Disposal Material Recycle Dispose Metal Plastic Assembled PCB s ...

Page 10: ...lver based drive 2 The second _ equals either E for incremental encoder must have E94P drive OR an R for the standard resolver must have E94R drive 3 Mains voltage for operation on 50 60 Hz AC supplies 48 Hz 0 62Hz 0 4 Connection of 120VAC 45 V 132 V to input power terminals L1 and N on these models doubles the voltage on motor output terminals U V W for use with 230VAC motors 5 Connection of 240V...

Page 11: ... C16 20 15 15 E94_040Y2N_X M20 M16 C20 C16 20 15 20 E94_080Y2N_X M32 M20 C32 C20 30 20 40 E94_120Y2N_X M50 M32 C50 C32 50 30 55 E94_180T2N_X M40 C40 40 80 E94_020T4N_X M10 C10 10 10 E94_040T4N_X M10 C10 10 20 E94_050T4N_X M16 C16 15 25 E94_060T4N_X M20 C20 20 30 E94_090T4N_X M25 C25 25 40 1 The first _ equals either P for the Model 940 encoder based drive OR an R for the Model 941 resolver based d...

Page 12: ... 400 Hz Speed Range 5000 1 with 5000 ppr encoder Position Reference 0 2 MHz Step and Direction or 2 channels quadrature input scalable Minimum Pulse Width 500 nanoseconds Loop Bandwidth Up to 200 Hz Accuracy 1 encoder count for encoder feedabck 1 32 arc minutes for resolver feedback 14 bit resolution 2 7 Connections and I O Mains Power 4 pin removable terminal block P1 Ethernet Port Standard RJ45 ...

Page 13: ...94_040Y2N_X 69 190 190 182 1 5 E94_080Y2N_X 95 190 190 182 1 9 E94_120Y2N_X 67 190 235 182 1 5 E94_180T2N_X 67 242 235 233 2 0 E94_020T4N_X 69 190 190 182 1 5 E94_040T4N_X 95 190 190 182 1 9 E94_050T4N_X 115 190 190 182 2 2 E94_060T4N_X 67 190 235 182 1 4 E94_090T4N_X 67 242 235 233 2 0 1 The first _ equals either P for the Model 940 encoder based drive OR an R for the Model 941 resolver based dri...

Page 14: ...S94P01C e1 12 3 2 Clearance for Cooling Air Circulation 3 bb 3 bb 3 bb S924 ...

Page 15: ...rnal fan may be recommended in certain applications Avoid excessive vibration to prevent intermittent connections DO NOT connect incoming mains power to the output motor terminals U V W Severe damage to the drive will result Do not disconnect any of the motor leads from the PositionServo drive unless mains power is removed Opening any one motor lead may cause failure Control Terminals provide basi...

Page 16: ... not recommended The SPG for all enclosures must be tied to earth ground at the same point The system ground and equipment grounds for all panel mounted enclosures must be individually connected to the SPG for that panel using 14 AWG 2 5 mm2 or larger wire In order to minimize EMI the chassis must be grounded to the mounting Use 14 AWG 2 5 mm2 or larger wire to join the enclosure to earth ground A...

Page 17: ... F Footprint or Sidemount Filter optional 4 2 2 EMI Protection Electromagnetic interference EMI is an important concern for users of digital servo control systems EMI will cause control systems to behave in unexpected and sometimes dangerous ways Therefore reducing EMI is of primary concern not only for servo control manufacturers such as Lenze but the user as well Proper shielding grounding and i...

Page 18: ...nded motor and encoder cables is all that is necessary to meet the EMC directives listed herein The end user must use the compatible filter to comply with CE specifications The OEM may choose to provide alternative filtering that encompasses the PositionServo drive and other electronics within the same panel The OEM has this liberty because CE requirements are for the total system 4 4 Heat Sinking...

Page 19: ...ove earth ground Avoid direct contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait 60 seconds before servicing drive Capacitors retain charge after power is removed STOP DO NOT connect incoming power to the output motor terminals U V W Severe damage to the PositionServo will result Check phase wiring U ...

Page 20: ...istor PTC Input 3 U Motor Power Out 4 V Motor Power Out 5 W Motor Power Out 6 PE Protective Earth Chassis Ground 5 1 2 P2 Ethernet Communications Port P2 is a RJ45 Standard Ethernet connector that is used to communicate with a host computer via Ethernet TCP IP P2 Pin Assignments Communications Pin Name Function 1 TX Transmit Port Data Terminal 2 TX Transmit Port Data Terminal 3 RX Receive Port Dat...

Page 21: ...output max 10 mA 24 AIN1 Positive of Analog signal input 25 AIN1 Negative of Analog signal input 26 IN_A_COM Digital input group ACOM terminal 3 27 IN_A1 Digital input A1 28 IN_A2 Digital input A2 29 IN_A3 Digital input A3 3 30 IN_A4 Digital input A4 31 IN_B_COM Digital input group BCOM terminal 32 IN_B1 Digital input B1 33 IN_B2 Digital input B2 34 IN_B3 Digital input B3 35 IN_B4 Digital input B4...

Page 22: ...r Output channel A on P3 For more information on this refer to section 5 2 2 Buffered Encoder Outputs STOP Use only 5 VDC encoders Do not connect any other type of encoder to the PositionServo reference voltage terminals When using a front end controller it is critical that the 5 VDC supply on the front end controller NOT be connected to the PositionServo s 5 VDC supply as this will result in dama...

Page 23: ...nments Resolver Feedback E94R Drives Pin Name Function 1 Ref Resolver reference connection 2 Ref 3 N C No Connection 4 Cos Resolver Cosine connections 5 Cos 6 Sin Resolver Sine connections 7 Sin 8 PTC Motor PTC Temperature Sensor 9 PTC 5 1 5 P5 24 VDC Back up Power Input P5 is a 2 pin quick connect terminal block that can be used with an external 24 VDC 500mA power supply to provide Keep Alive cap...

Page 24: ...ontrolled by the frequency of the step signal while the number of pulses that are supplied to the PositionServo 940 determines the position of the servomotor DIR input controls direction of the motion Note 3 Digital Input For the drive to function an ENABLE input must be wired to the drive and should be connected to IN_A3 P3 29 which is by the default the ENABLE input on the drive This triggering ...

Page 25: ...0 OFF ON OFF OFF 500 500 OFF ON OFF ON 512 512 OFF ON ON OFF 720 720 OFF ON ON ON 800 800 ON OFF OFF OFF 1000 1000 ON OFF OFF ON 1024 default 1024 default ON OFF ON OFF 2000 2000 ON OFF ON ON 2048 2048 ON ON OFF OFF 2500 2500 ON ON OFF ON 2880 2880 ON ON ON OFF 4096 250 ON ON ON ON 4096 4096 1 For PPR postquadrature multiply by 4 2 Hardware Software Revision can be found on the dataplate label att...

Page 26: ...ENC1 can be installed at Option Bay 2 P12 Once installed the optional feedback card can be selected as the primary encoder repeat source from the Parameter folder in MotionView The 2nd Encoder Option Module includes a 9 pin D shell male connector When using a Lenze motor with encoder feedback and a Lenze encoder cable the pins are already configured for operation If a non Lenze motor is used the en...

Page 27: ...cteristics for Step And Direction signals 88L 8L 6 7 S905 Timing characteristics for Master Encoder signals Input type output compatibility Insulated compatible with Single ended or differential outputs 5 24 VDC Max frequency per input 2 MHz Min pulse width negative or positive 500nS Input impedance 700 Ω approx B6 HI E B7 9 G B6 HI E B7 9 G 7 7 K S906 Master encoder step and direction input circu...

Page 28: ...type that are fully isolated from the rest of the drive circuits See the following figure for the electrical diagram These outputs can be either used via the drives internal User Program or they can be configured as Special Purpose outputs When used as Special Purpose each output OUT1 OUT4 can be assigned to one of the following functions Not assigned Zero speed In speed window Current limit Run t...

Page 29: ...onding shared COM terminal ACOM BCOM and CCOM Each group or bank can be wired as sinking or sourcing Refer to wiring examples mb103 and mb104 All inputs have separate software adjustable de bounce time Some of the inputs can be set up as Special Purpose Inputs For example inputs A1 and A2 can be configured as limit inputs input A3 is always set up as an Enable input and input C4 can be used as a r...

Page 30: ...it common if any needs to be connected to the drive Analog Common ACOM terminal Refer to wiring examples mb105 and mb106 Reference as seen by drive Vref AIN1 AIN1 and 10V Vref 10V miZgcVa GZ ZgZcXZ Differential Configuration 68DB 6cVad 8dbbVcY Djieji 6cVad 8dbbVcY GZijgc 68DB E E E 6 C 6 C Edhi dcHZgkd 9g kZ 940 Servo Drive Analog input Analog input Analog Input Bdi dc 8dcigdaaZg mb105 H c aZ ZcYZ...

Page 31: ...program multiple drives from MotionView Refer to section 6 4 1 for PC configuration information 5 4 2 RS485 Interfaces option module PositionServo drives can be equipped with an RS485 communication interface option module E94ZARS41 which is optically isolated from the rest of the drive s circuitry This option module can be used for two functions drive programming and diagnostics using MotionView f...

Page 32: ...onment When configured for MODBUS operation the baud rate for RS485 is set by the parameter Modbus baud rate in MotionView NOTE if the RS485 port is configured for MODBUS operation then the command repeat function see 5 4 3 is unavailable even if baud rates are set the same for both interfaces MODBUS RTU requires 8 data bits The MODBUS RTU slave interface protocol definitions can be found in the Moti...

Page 33: ...tor doesn t have a PTC sensor set this parameter to DISABLE This input will also work with N C thermal switches which have only two states Open or Closed In this case Motor PTC cut off resistance parameter can be set to the default value 5 5 3 Motor Set up Once you are connected to the PostionServo via MotionView a Parameter Tree will appear in the Parameter Tree Window The various parameters of t...

Page 34: ...e and click the OPEN button to select or click the CANCEL button to return to the previous dialog box Click OK to load the motor data and return to the main MotionView menu or Cancel to abandon changes When clicking OK for a custom motor a dialog box will appear asking if you want to execute Autophasing see section 5 6 2 5 6 1 Creating Custom Motor Parameters STOP Use extreme caution when entering...

Page 35: ...ters when using a motor that is not in MotionView s database For motors equipped with incremental encoders Autophasing will determine the Hall order sequence Hall sensor polarity and encoder channel relationship B leads A or A leads B for CW rotation For motors equipped with resolvers Autophasing will determine resolver angle offset and angle increment direction CW for positive To perform autophas...

Page 36: ...or data into the Motor Parameters dialog box This box is divided up into the following three sections or frames Electrical constants Mechanical constants Feedback When creating a custom motor you must supply all parameters listed in these sections All entries are mandatory except the motor inertia Jm parameter A value of 0 may be entered for the motor inertia if the actual value is unknown 5 6 3 1...

Page 37: ... 69 lb in A 4 35 A Our entry for In would be 4 35 Note that the torque lb in units cancelled in the equation above leaving only Amps A We would have to use another conversion factor if the numerator and denominator had different force x distance units Nominal Bus Voltage Vbus The Nominal Bus Voltage can be calculated by multiplying the Nominal AC mains voltage supplied by 1 41 When using a model w...

Page 38: ... Output Voltage determine which Hall Voltage is lined up with or in phase with this voltage We can determine which Hall Voltage is in phase with the Vrs Output Voltage by drawing vertical lines at those points where it crosses the horizontal line zero The dashed lines at the zero crossings above indicate that Hall B output is lined up with and in phase with the Vrs Output Voltage 2 Look at the Vst...

Page 39: ...lver is checked following parameters appear on the form Offset in degree electrical This parameter represents offset between resolver s 0 degree and motor s windings 0 degree CW for positive This parameter sets the direction for positive angle increment Offset in degree and CW for positive will be set during Auto Phasing of the motor 5 6 3 4 For Asynchronous Servo Motors Only Four additional param...

Page 40: ...e reference comes from an external device AIN1 or MA MB or from the drives internal variables digital reference and trajectory generator will depend on the parameter settings Refer to Parameters group in MotionView 6 1 Parameter Storage and EPM Operation 6 1 1 Parameter Storage All settable parameters are stored in the drive s internal non volatile memory Parameters are saved automatically when th...

Page 41: ...e pulse train on pins P3 1 P3 4 6 3 1 1 Torque Mode In torque mode the servo control provides a current output proportional to the analog input signal at input AIN1 if parameter Reference is set to External Otherwise the reference is taken from the drive s internal variable Refer to the PositionServo Programming Manual for details For analog reference Set Current current the drive will try to prov...

Page 42: ...nal motor phase current by default when a motor model is selected To modify this parameter refer to section 6 3 23 6 3 4 8 kHz Peak Current Limit and 16 kHz Peak Current Limit Peak Current Limit sets the motor RMS phase current that is allowed for up to 2 seconds After this two second limit the drive output current to motor will be reduced to the value set by the Current Limit parameter When the m...

Page 43: ...either in torque or velocity mode The Master Encoder and Step and Direction reference is used when the drive is in position mode An Internal Reference is used when the motion being generated is derived from drive s internal variable s i e User Program Refer to the PositionServo Programming Manual 6 3 9 Step Input Type position mode only This parameter sets the type of input for position reference ...

Page 44: ...on resistor is most effective without overload One may set this parameter with a value smaller than the calculated one if the drive will not experience over voltage fault during regeneration D P R Umax 2 1 Dapplication 100 Where D regeneration duty cycle Umax VDC bus voltage at regeneration conditions Umax 390 VDC for 120 240 VAC drives and 770 VDC for 400 480 VAC drives R Ohm regeneration resisto...

Page 45: ...of the encoder 6 3 18 Autoboot When set to Enabled the drive will start to execute the user s program immediately after cold boot reset Otherwise the user program has to be started from MotionView or from the Host interface 6 3 19 Group ID Refer to the PositionServo Programming Manual for details This parameter is only needed for operations over Ethernet network 6 3 20 Enable Switch Function If se...

Page 46: ...ers this parameter must be set as Enable To prevent the motor from overloading the current Limit 8 kHz peak current limit and 16 kHz peak current limit shall be set to values no higher than the corresponding current limits of the motor in use Note that this parameter applies to firmware version 3 06 or higher 6 4 Communication 6 4 1 Ethernet Interface Programming and diagnostics of the PositionSer...

Page 47: ... establish communications to the drive both the PC and the PositionServo drive must be on the same subnet but have different addresses That is both the PC and PositionServo drive shall have the same sub octects IP_1 IP_2 and IP_3 and different IP_4 When connecting MotionView to a brand new PositionServo drive out of box set the PC s IP address as 192 168 124 1 Refer to section 6 4 1 3 on how to se...

Page 48: ...s that the drive is still trying to acquire an IP address from the dHCP server To obtain the PositionServo drive s IP address automatically there must be a dHCP server available 6 4 1 3 Set the PC s IP Address Follow these steps to set up the PC s IP address To display the IP address of your PC from the Start menu select Control Panel and then select Network Connections Select the connection you w...

Page 49: ...ties button Select Use the following IP address and enter 192 168 124 1 for the IP address Now enter the subnet mask 255 255 255 0 and then click the OK button Note that one can use Obtain an IP address automatically after the PositionServo drive s IP address has been configured under the same subnet to which the PC is connected ...

Page 50: ...gned Phase current RMS Phase current Peak Motor Velocity Phase U current Phase V current Phase W current Iq current Torque component Id current Direct component 6 5 2 Analog Output Current Scale Volt amps Applies scaling to all functions representing CURRENT values 6 5 3 Analog Output Current Scale mV RPM Applies scaling to all functions representing VELOCITY values Note that mV RPM scaling units ...

Page 51: ...ve 10ms after the drive is enabled and deactivates 10ms before the drive is disabled In position Position mode only Refer to the PositionServo Programming Manual for details 6 6 1 Digital Input De bounce Time Sets de bounce time for the digital inputs to compensate for bouncing of the switch or relay contacts This is the time during an input transition that the signal must be stable before it is r...

Page 52: ...cifies the maximum allowable error of the second encoder in post quadrature encoder counts before enabling the Second encoder max error time clock described next 6 8 4 Second Encoder Max Error Time Specifies maximum allowable time in mS during which the second encoder s position error can exceed the value set for the Second encoder position error parameter before a Position Error Excess fault is g...

Page 53: ...n position 6 9 5 Position D gain differential The output of the Position D gain compensator is proportional to the difference between the current position error and the position error measured in the previous servo cycle D gain decreases the bandwidth and increases the overall system stability It is responsible for removing oscillations caused by load inertia and acts similar to a shock absorber i...

Page 54: ...utton activates the Autophasing feature as described in section 5 6 2 However in this panel only the motor phasing is checked the motor data is not modified 6 11 Faults Group Faults Group loads the fault history from the drive The 8 most recent faults are displayed with the newer faults replacing the older faults in a first in first out manner In all cases fault 0 is the most recent fault To clear...

Page 55: ...Shows heatsink temperature in ºC if greater than 40ºC Otherwise shows LO low EnC Encoder activity to view Shows primary encoder counts for encoder diagnostics activity HALL Displays motor s hall sensor states to view Shows motor hall states in form XXX where X is 1 or 0 sensor logic states buS Displays drive DC bus voltage to view Shows DC bus voltage value Curr Displays motor s phase current RMS ...

Page 56: ...ning F_Ot Over temperature Drive heatsink temperature has been reached maximum rating F_EF External fault input activated Digital input was programmed as external fault input and has been activated F_OS Over speed Motor reached velocity above its specified limit F_PE Excess position error Position error exceeded maximum value F_bd Bad motor data Motor profile data invalid or no motor is selected F...

Page 57: ...e DANGER Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait at least 60 seconds before servicing drive Capacitors retain charge after power is removed As a minimum these connections must be made Connect an ...

Page 58: ...ng other than this refer to the chart below before proceeding Drive display Meaning EP EPM missing Refer to 6 1 2 EPM EPM data Refer to 6 1 2 No valid firmware Monitor mode 6 Confirm that the PC and the drive have the correct IP setting Refer to Section 6 4 1 1 Setting Your PC IP Address 7 Launch MotionView software on your computer 8 From the MotionView menu select Project Connection setup 9 Sele...

Page 59: ...ample 1 Problem Setup the drive to follow a master encoder output where 1 revolution of the master encoder results in 1 revolution of the motor Given Master encoder 4000 pulses revolution post quadrature Motor encoder 8000 pulses revolution post quadrature Solution Ratio of System motor encoder to Master Encoder is 8000 4000 2 1 Set parameter System to master ratio to 2 1 Example 2 Problem Setup d...

Page 60: ...function set to Inhibit IN_A3 acts as negative logic INHIBIT input regardless of mode or program status Activating input IN_A3 doesn t enables the drive The drive can be enabled from the user s program or interface only when IN_A3 is active Attempt to enable drive by executing the program statement ENABLE or from interface will cause the drive to generate a fault F_36 Regardless of the mode of ope...

Page 61: ...hoose closest integer value if 10A 3 3 33 3 choose 3A 8 Select Compensation from the Node tree As a starting point set Gain Setting to 2 if the motor is equipped with an encoder If the motor is equipped with a resolver set this to 4 Refer to Section 6 9 8 for more details 9 Set the Velocity P gain to 5000 and the Velocity I gain to 20 10 Apply voltage to IN_A3 input and press F5 on the keyboard Al...

Page 62: ...ion 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 pos...

Page 63: ...rease the D gain again while increasing the P gain to suppress the oscillations 10 Stop the program 11 The above method is suggested as a general guideline for position tuning You will have to experiment with the gains to achieve the performance and stability needed for your individual application 12 The general goal of tuning is to achieve the minimum acceptable position error while still maintai...

Page 64: ... while the I Limit will set the maximum influence that the I Gain will have on to the loop When adjusting the I gain start with a very small value for both the I gain and the I Limit then increase the I gain until stand still reaction is compensated Remember that large values of Position I limit can cause large instability and unsettled oscillation of the mechanism Note Remember that these are onl...

Page 65: ...n the Gain Scaling window The current value is very close to the maximum but since the P gain is maxed out we can t determine if we have achieved optimum settings Also notice that the oscilloscope Time Base is set to 10ms This allows us to view the leading edge and current impulse response more clearly A real time oscilloscope is essential when analyzing waveforms in depth and is a distinctive fea...

Page 66: ...n Reference the next section Velocity P gain 20322 Velocity I gain 20 Gain Scaling 1 We start to see a small overshoot at the leading edge of the Motor Velocity wave but the current doesn t increase anymore This is how fast the motor can reach the set velocity with current limit selected Any further increase in gain will only increase the overshoot and will not improve the response P gain should b...

Page 67: ...ication requires stiffness at zero or near zero velocity and long term stability is desired increase I Gain so that the overshoot reaches 30 see next section S938 Large I Gain I Gain 7935 Overshoot 20 The I gain setting is very application dependent If the application requires a high and flat response then the I gain should be set to produce an overshoot of no more than 10 If the application requi...

Page 68: ...the Motor Velocity waveform The current waveform also has a small trace of instabilities at the flat portion of the waveform S940 Velocity P gain is too high Velocity P gain 22720 Velocity I gain 20 Gain Scaling 0 Notice below that there is a large overshoot and a noticeable oscillation in flat portion of the Motor Velocity waveform The current waveform also has some instability on trailing edge o...

Page 69: ... the D gain as well to overcome this problem S942 P gain increase Position P gain 8700 Position D gain 0 Position I gain 0 Position I limit 0 Positive effect Position error decreased Problem Noticeable oscillation Channel 1 P gain can t be set any higher due to increasing oscillation instability Treatment Increase D gain and then P gain until position error stops decreasing Side effects Possible h...

Page 70: ... 0 Positive effect Position error decreased Oscillation eliminated by D gain Side effects Possible high noise produced by high P and D gains at 0 velocity This problem arises since encoder has finite resolution A compromise might have to be made by setting the P gain and the D gain lower to smooth out the operation at 0 velocity S944 ...

Page 71: ...it 0 Problem Noticeable oscillation Channel 1 on Iq current waveform Treatment Decrease the P gain setting until oscillation disappears S945 P and D gains setting check corrected Position P gain 12673 Position D gain 16000 Position I gain 0 Position I limit 0 Positive effect Oscillation stopped and stability is increased S946 ...

Page 72: ...ng Suggested Solution Check that line fuses are properly sized for the motor being used Check motor cable and incoming power for shorts Check that you follow recommendation for shielding and grounding listed in section shielding and grounding early in this manual Problem Ready LED is on but motor does not run Suggested Solution If in torque or velocity mode Reference voltage input signal is not ap...

Page 73: ...S94P01C e1 71 NOTES ...

Page 74: ...S94P01C e1 72 NOTES ...

Page 75: ...S94P01C e1 73 AC Technology Corporation member of the Lenze Group 630 Douglas Street Uxbridge MA 01569 Telephone 508 278 9100 Facsimile 508 278 7873 Document S94P01C ...

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