Anilam 4200T, Руководство пользователя

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CNC Motion Setup/Testing Utility
P/N 70000634C
All rights reserved. Subject to change without notice.
November 2009
33
If you have selected Kd (derivative gain), the CNC begins by measuring
derivative sampling time (Ds). It measures the time between 10% and
90% of the final velocity (rise time) and divides it by five. A portion of this
time is determined to be the Ds.
WARNING: If you select the Kd test, you must have at least 2.5”
(63 mm) of travel in the positive (+) direction.
Next, the CNC calculates Kp (proportional gain). If the current overshoot
is smaller than the set one, Kp is increased by 1. If it is larger, Kp is
decreased by 0.1.
If you have selected Ki (integral gain), the CNC then calculates Ki and
I
l
(integral limit). If the lag between the commanded position and the actual
position is not zero,
I
l is increased by 5 and this portion of the test is
repeated.
The CNC calculates Kd, if selected. The CNC will attempt to decrease
the overshoot until the set value (Kd overshoot) is matched. When this
condition is not matched, Kd is increased by 2.
If you have chosen to test only one axis, the test is completed at this
point. If you have chosen to test multiple axes, and have not selected
“Lag Matching” the test will repeat the procedure on each axis in turn,
until complete.
If you have chosen all axes and Lag Matching, the CNC calculates the
inch/min/mil (
I
mm) of each axis being tested and matches the
inch/min/mil to the lowest value of all axes tuned.
To test:
1. Energize the servos and select an axis.
2. Press Tuning ( F8 ). A pop-up is displayed with the following choices:
Tuning Test , Save Results , and Tuning Setup .
3. Refer to Table 11, Tuning Test Parameters . Check the Tuning
Setup menu to determine which parameter(s) you wish to change.
Select
Tuning Test , and press
ENTER
. Choose the parameter(s) you
wish to include in the test.
4. Refer to Table 12, Tuning Functions Values . Enter values for the
following tuning parameters:
NOTE: Kp overshoot must be greater than Kd overshoot.