Drive Configuration
Verification of the Setup
rent vector, which will move the axis in positive electrical direction. It is recommended to execute this
check if:
The bode measurement shows an unexpected characteristic.
The axis goes in an axis error state immediately after the phasing.
There is uncertainty if the magnetic pitch is configured correctly.
Preconditions:
To rotate a current vector, the current controller needs to be configured properly as described in
section 5.4.2.
The following steps are required to run the verification.
Temporary increase the parameter
PositionController.Controllers[0].PositionErrorLimit
(e.g. to 10
times the magnetic pitch) and set the position gains
Kr
,
Ki
and
Kd
to zero.
Prepare the scope by loading the
Scope Configuration
named
Direction Analysis
.
Prepare the
TestGenerator
with the following values.
Frequency
: This parameter defines how fast the axis will move during the test. For example, if
the parameter is set to 0.5Hz, it will take 2s to move a distance of one pole pair pitch.
Amplitude
: 0
Offset
: 50% to 100% of the nominal current
RampTime
: 2s
CommutationAngle
: 0rad
Temporarily increase
PositionController.Controllers[0].PositionErrorLimit
to a value bigger than
one pole-pair pitch.
Temporarily set the gains
Kr
,
Ki
,
Kd
of the position controller to zero to disable the position con-
troller.
Enable
Axis[0]
, start the scope and set
Axes[].Commands.TestGenerator.Command
to
StartRotat-
ingVectorConstantCurrent
and press Enter.
Warning
Warning
As soon as
StartRotatingVectorConstantCurrent
is committed, the axis will start to move.
The value of
TestGenerator.Frequency
has to be set slow enough to stop the axis in time
(see next item).
If the setup is correct, the axis will now move with the defined frequency. To stop the axis, set
Test-
Generator.Command
to
Stop
and press Enter. Stop the scope and disable the axis.
To verify the motor direction, check if the signals of
Commutation.Angle
and
PositionController.En-
coders[0].Position
have the same direction (see also Figure 62). If the direction is opposite, switch
the state of the parameter
Motor.InvertDirection
.
To verify the magnetic pitch, check if one electrical turn (2·π) on the
Commutation.Angle
corre-
sponds to the magnetic pitch measured on
PositionController.Encoders[0].Position
(see Figure 62).
Do not forget to reset
PositionController.Controllers[0].PositionErrorLimit
and the position gains
Kr
,
Ki
and
Kd
.
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