Parker Compumotor 6000 Series, Installation Manual

Page: 52 / 59

Appendix A Ð Tuning 4 5
Step 8
After raising the
SGV
gain to 2.4, overshoot is reduced a
little, but chattering reappears. This means the gains are
still too high.
Next, we should lower the
SGV
gain until chattering stops.
SGP = 85
SGV = 2.4
Step 9
After lowering the
SGV
gain to 2.2 (even less than in the 2.3
setting in Step 7), chattering stops.
Next we should lower the
SGP
gain.
SGP = 85
SGV = 2.2
Step 10
Overshoot is reduced very little after lowering the
SGP
gain
to 70. (The
SGV
gain might have been lowered too much in
Step 9.)
Next, we should try raising the
SGV
gain again until the
overshoot is gone.
SGP = 70
SGV = 2.2
Step 11
When we raised the
SGV
gain to 2.52, the step response
became fast and very stable.
SGP = 70
SGV = 2.52
Step 12
Now that we have determined the appropriate
SGP
and
SGV
gains, we can include them in the AT6n50Õs setup program.
We put the gains in the setup program (to be run before other
programs) because we want the AT6n50 to be in a Òready
stateÓ for motion. For more information on creating a setup
program, refer to the
6000 Series ProgrammerÕs Guide .
Example Setup Program:
DEF SETUP ; Begin def. of "setup" program
@DRIVE¯ ; Disable all drives
INDAX4 ; Place all axes in use
SSFR4 ; Servo sampling frequency ratio
@DRFLVL1 ; Set drive fault level to
; "active high" for all axes
@KDRIVE1 ; Enable DISABLE ON KILL feature
; *********************************************
; * Setup for encoders (will need to switch *
: * between encoder and ANI feedback) *
; *********************************************
@SFB1
; Select encoder feedback for
; all axes (subsequent scaling,
; gains, servo offset, PSET,
; and SMPER commands are specific
; to encoder feedback)
@ERES4000 ; Set encoder resolution to
; 4,000 counts/rev, all axes
@SCLA4000 ; Set scaling for programming
; accel/decel in revs/sec/sec
@SCLV4000 ; Set scaling for programming
; velocity in revs/sec
@SCLD4000 ; Set scaling for programming
; distances in revs
@SGP70 ; Set proportional feedback gain
@SGV2.52 ; Set velocity feedback gain
@SMPER0
.
001 ; Set max. position error to
; 1
/
1000 of a rev (
4 encoder counts
)
@PSET0 ; Set current position as
; absolute position zero
; *********************************************
; * Setup for ANI feedback (ANI OPTION ONLY) *
; *********************************************
@SFB2
; Select ANI feedback for all
; axes (subsequent scaling,
; gains, servo offset, PSET,
; and SMPER parameters are
; specific to ANI feedback)
@SCLA819 ; Set scaling for programming
; accel/decel in volts/sec/sec
@SCLV819 ; Set scaling for programming
; velocity in volts/sec
@CLD819 ; Set scaling for programming
; distances in volts
@SGP1 ; Set proportional feedback gain
@SGI0 ; Set integral feedback gain
@SGV0.5 ; Set velocity feedback gain
@SMPER.01 ; Set max. position error to
; 1/100 of a volt (8 ANI counts)
@PSET5 ; Set current position as
; absolute position 5
@SFB1 ; Select encoder feedback for
; start of main program
; *********************************************
; * Insert other appropriate commands in the *
; * setup program (e.g., custom power-up mesg,*
; * scaling factors, input function assignmts,*
; * output function assignments, input and *
; * output active levels, etc.). See Prog. *
; * Guide, Chapter 3, for more information. *
; *********************************************
END ; End definition of "setup" prog
STARTP SETUP ; Assign the program named setup
; as the program to be executed
; on power up & reset
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