33
Rev. 1.0
0006302011
SSM23C User Manual
+86-400-820-9661
Sample Once:
after the
Start
button is clicked, a single move is performed, the motor stops, and
the results will be displayed.
Sample Continuously:
after the
Start
button is clicked, the move will be repeated and the results
displayed until the
Stop
button is clicked. During continuous sampling the tuning gains can be
changed at any time and will be updated automatically. This enables more dynamic adjustment of
the gains for speeding up the tuning process.
5.5.2 Performing a Move
Once the move settings are correct the mechanism to be moved shold also be checked to ensure
it is ready to move. It is especially important to make sure the direction is set correctly. In some
cases it is wise to select
alternate
to avoid running the mechanism into a hard stop. Select the
Sample Once
button. Click the
Start
button and observe the results.
If problems occurred during the move an Alarm indicating a Fault or Warning may be displayed
and need to be cleared. The drive may be left disabled until the Alarm is cleared and the Enable
button is clicked.
Note: Clicking the Alarm Reset button and then the Enable button will clear a fault and
enable the drive.
Now the motion parameters will need to be adjusted to achieve the desired move profile. The
move can be repeated by clicking the
Start
button. If the drive continues to fault it is possible the
maximum current or position error parameters are being exceeded. These can be set in the
Drive
Configuration
tab.
The current setting can be checked by selecting
Current
in one of the Plot lists and clicking
Start
again to see what current is being required of the drive during a move. The current profile of the
move will be displayed and may give a clue as to why a fault is occurring.
5.5.3 Adjusting tuning parameters
The two primary parameters for a Timed move are the
Proportional
(VP) &
Integral
(VI) gain
parameters of the velocity loop.
Starting with these two terms is a good way to begin tuning as they are the minimum required
terms in Velocity Loop tuning. The
FF Gain
is not required but adds to the tuning, this will be
discussed later.
Note 1:
The
Disable
button in the Menu bar of the SSM Quick Tuner window under the label
Servo
will disable the motor should a serious problem occur.
Note 2:
The Gain values can be changed at any time during the tuning process. When the SSM
Quick Tuner software detects a change in the value it will automatically download the new value.
The
Download
button in the upper right of the window does not need to be clicked.
Once a successful move has been accomplished (no fault occurs) the motor is ready for tuning.
Adjust the VP and VI parameters and observe the results. VP and VI shold be adjusted at the
same time and in small increments. The following two figures shows responses with different VP
and VI settings.
