DIGIVEX Little Drive Servoamplifier
70
PVD 3530 GB 01/2005
Dipl43gb.D/46W
Do not change PI to PI
2
without setting the integral frequency to 0.
6.3.5 Setting predictors
Initial conditions
All loop parameters (P, integral and filtering frequency, max. speed, current limitation) are set
(without predictors).
The system is ready to run.
Setting the Gravity and Static Friction predictors
Notice that the gravity factor is zero for a horizontal axis.
Take a square stimulus, offset = 0, peak to peak value = 3 to 5% of maximum speed in rpm,
frequency 0.2 to 1 Hz.
Using the oscilloscope function, display:
♦
The input set point,
♦
The current set point.
Speed
measurement
fi too high
pseudo-period
Time
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