Motor Power Company DUET_FL 48/10, User Manual

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Page 64
Position controller optimization
To optimize the position controller it is essential that the current controller and the speed
controller have been adjusted correctly. (See the preceding chapters)
Please make sure that the motor shaft can rotate freely and that the drive cannot be
damaged.
The following steps have to be performed for the optimization:
1.
Activate the position controller and set the gain to 0.5.
2. Open the menu for parametrizing the position data sets (see chapter position sets ) and enter the
following values for destination 0 and destination 1:
 Destination 0: 10 R / Destination1: -10 R
 Speed: (half rated speed)
 Acceleration: (maximum value)
 Deceleration: (maximum value)
3. Start the oscilloscope (see the appendix, chapter Using the oscilloscope function ) by activating the
menu item Display/Oscilloscope and set the following values:
 Channel 1: Actual speed value; scaling = 1000 rpm / div; -2 div
 Channel 2: Rotor position; scaling = 50 ° / div; offset 1 div
 Time base: 100 ms / div; delay = -200 ms
 Trigger: Source = actual speed value; level = half running speed; mode = normal, falling
edge
4. Enable the power stage. Start the positioning run alternately with destination 0 and destination 1
with the help of the Go to destination menu (see chapter Approaching destinations ). The motor
now reverses within the specified limits.
Optimization : Evaluate the speed and the rotor position during stopping. If the transient process of the
position takes too long, increase the gain. If the speed starts to oscillate during stopping, the gain has
to be decreased.
Figure 7: Speed controller optimization
Please note that the overshoots are due to missing acceleration and deceleration time values.
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company