Saia PCD2.H310, Manual

Page: 72 / 154

Installation and commissioning PCD2.H31x
Page 9-6

SAIA-Burgess Electronics Ltd.
(2H3-09-E.DOC)
26/762 E2
9.4.3 Determining machine data
Before commissioning for the first time, various parameters for FB 'Init'
should be determined, some of which are already fixed by the machine,
whereas other are recommended as test values.
Position tolerance
→
see FB 'Init', par. 7, manual page A-1/2
Recommended value 1 encoder revolution
When an encoder has 500 imp./revolution, this parameter has the value
2000 = 4 * 500 imp./revolution (evaluation of encoder impulse edges).
PID factors
→
see FB 'Init' manual page A-1/2
Recommended start values:
Proportional factor (Parameter 2): 10
Integral factor (Parameter 3): 0
Differential factor (Parameter 4): 0
Integration limit (Parameter 5): 30000
Sample time D portion (Parameter 6): 15 (= 5.61 msec.)
Machine factor FB 'Init', PCD register for parameter 9 (floating-
point format)
This factor results from the resolution of the encoder used, the spindle
gradient and any gears.
Important: The unit of measurement chosen here (m, cm, mm, 1/10mm,
1/100mm,
µ
m) must also be used for the velocity (par. 10),
acceleration (par. 11) and all values relating to path, break-
point, velocity and acceleration throughout the user program
for this axis.
4 x In
Assume: k = ------- [impulses/unit of measurement]
s
where In: impulses/revolution (encoder resolution)
s: path/revolution (spindle gradient and gears)