6
Add the gain settings obtained from the
tuning to the MotorControl.pmh file.
Motor[1].IiGain=***
Motor[2].IiGain=***
Motor[1].IpfGain=***
Motor[2].IpfGain=***
Motor[1].Servo.Kp=***
Motor[2].Servo.Kp=***
Motor[1].Servo.Kvfb=***
Motor[2].Servo.Kvfb=***
Motor[1].Servo.Ki=***
Motor[2].Servo.Ki=***
Motor[1].Servo.Kaff=***
Motor[2].Servo.Kaff=***
Motor[1].Servo.Kvff=***
Motor[1].Servo.Kfff=***
7
Open the
pp_startup.txt
file under
Configuration
in the Solution Explorer.
8
Write the phase search commands
shown on the right.
enable plc PhaseSearch
9
Open the
plc1.plc
file under
PMAC
Script Language
–
PLC Programs
in
the Solution Explorer.
10
Add the program shown on the right to
the plc1.plc file.
open plc PhaseSearch
P0=Sys.Time+1.0;
while(P0>Sys.Time){};
Motor[1].PhaseFindingStep=1;
while(Motor[1].PhaseFindingStep!=0){};
Motor[2].PhaseFindingStep=1;
while(Motor[2].PhaseFindingStep!=0){};
disable plc PhaseSearch
close
3 Connection Procedures
3-37
Application Guide Laser Application (O052)
3-4
Setup of the Motors and Encoder
3
3-4-9
Confirmation of the T
uning Results
Summary of Contents for CK3M-CPU 1 Series
Page 10: ...Precautions 10 Application Guide Laser Application O052...
Page 16: ...2 Device Configuration 2 4 Application Guide Laser Application O052...
Page 76: ...3 Connection Procedures 3 60 Application Guide Laser Application O052...
Page 88: ...4 How to Customize Various Settings 4 12 Application Guide Laser Application O052...
Page 89: ......