Baldor NextMove BX, Руководство по установке

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NextMove BX Installation Manual
48
MN1258V4 08/2000
DACLIMITMAX
determines the maximum value of the demand output as a percentage of the full scale
demand. Therefore if DACLIMITMAX = 50 , the maximum demand output will be ±5V.
Tuning terms can be controlled in Mint using the following keywords:
Keyword Abbreviation Description
DACLIMITMAX DCX
Limit maximum DAC output
KPROP KP
Proportional gain
KDERIV KD
Derivative gain
KINT KI
Integral servo loop gain
KINTMODE KIM
Integration mode during motion
KINTLIMIT KIL
Range limit for integrator % of max DAC output
KVEL KV
Velocity feedback gain
KVELFF KF
Velocity feedforward gain
KACCEL KA
Acceleration feedforward gain
4.4.2 Selecting Servo Loop Gains
All servo loop parameters default to zero, so the motor will have no power applied to it on power up.
Most servo amplifiers can be set up in either current (torque) control mode or velocity control mode.
The procedure for setting system gains differs slightly for each.
In order to check that the encoder and motor are wired up correctly, it is recommended that the
motor is tested and commissioned ‘on the bench’ and not in the machine (the motor or gearbox shaft
should be in free air).
The Mint Configuration Tool allows online tuning of the position loop. Continuing the example
setup from section 4.4, proceed to the ‘Servo Tuning’ page. The ‘Position Loop Tuning’ tab allows
tuning terms to be entered and a sample move performed. Once the move is complete, motion data
is uploaded from the controller which allows the response of the axis to be seen.
The ‘Following Error Fatal’ value is the maximum permissible error between the axis desired
position and the axis measured position. If an axis becomes unstable, when it exceeds the maximum
following error, it will be disabled. Because of this, the maximum following error should be set at a
safe value. If an error occurs, the ‘Clear Errors’ button needs to be pressed.
Figure 4-14: MCT Setting Fatal Following Error Limit