ID 442426.04
361
WE KEEP THINGS MOVING
Optimize
15
Manual SD6
Then you can read the measured values in
B64
to
B68
.
If a quick stop request occurs during the action, the drive is stopped
immediately.
The cycle time is set to 32 ms internally for the duration of the action.
You can read the following results in the third element (
B42.2
):
0: error free:
The action was performed and completed without errors.
1: aborted:
The action was interrupted by switching off the enable.
15.1.6.3
B49 optimize current controller standstill
The action redetermines the parameters for current controller gain (
B53, B64
...
B68
). In contrast to action
B42 optimize current controller
the motor does not
turn during the action.
You can start the action in
B49[0]
, observe the progress in
B49[1]
and obtain
the result in
B49[2]
.
When the action is complete you can read the new values in
B53
as well as
B64
...
B68
.
To start action
B49 current controller optimization
, set
B49[0]
=
1:active
. The
action determines the parameters for current controller optimization again
(
B53, B64
...
B68
). In contrast to action
B42 current controller optimization
the
motor does not turn during the action.
Progress of current controller optimization as a %.
After action
B49 optimize current controller (standstill)
is complete, the result
can be queried here.
15.2 The ratio of the displayable position to the
measurable position
The settings of the axis model yield the smallest position step that can be
represented (for example 0.0001 mm).
I160
shows how many measurement
steps the encoder that is used has in the smallest position step that can be
represented. This makes it possible to determine the expected control
performance.
I160
> 1:
Typical for applications without cyclic real-time assignment of reference values
by a higher-level control unit.
If the encoder resolution is greater than 1 per position step, there will be no
position control problems due to quantization. However, the encoder resolution
cannot be fully utilized if a reference value is assigned or with position display.
If a higher-level control unit is used with cyclic assignment of reference value,
this can lead to losses in performance. Position control in the drive controller
always uses the full encoder resolution regardless of the position steps that can
be displayed in user units.
I160
= 1:
For applications with cyclic real-time assignment of reference values by a
higher-level control unit.
If the settings recommended for the control unit connection are used, the result
will be a quantization of 1 per position step. Then the encoder resolution will be
passed along to the control unit.
B49
optimize current controller (standstill)
version 0
B49[0]
optimize current controller (standstill) start
version 0
B49[1]
optimize current controller (standstill) process
version 0
B49[2]
optimize current controller (standstill) result
version 1
I160
position resolution
version 0
