6-56
Drive Control
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note:
When using the smoothing filters, take into account that each
filter causes phase displacement in the control loop and
therefore has a negative effect on the phase margin in the
control loop (
→
control loop stability).
Therefore, the following applies:
"As little filtering as possible, but as much filtering as
necessary!"
P-0-1121 limit frequency of low pass
0,1
10
-40
0
100
-20
1
0,1
0,01
f
Sv5053f1.fh7
fg
A
dB
-3
Fig. 6-39:
Frequency response of a PT1- and PT2-filter
Notes on Commissioning
In order to be able to carry out the setting of the velocity loop it is
necessary to make some preparations:
•
The mechanical system of the machine must have been set up in its
definite assembly in order to have original conditions for parameter
setting.
•
The drive controller must have been correctly connected.
•
The operatability of the safety limit switches (if available) must have
been checked.
•
The "velocity control" mode must have been selected in the drive.
For parameterizing the controller make the start setting as follows:
•
S-0-0100, Velocity loop proportional gain
= standard value of the connected motor
•
S-0-0101, Velocity loop integral action time
= 0 ms
→
no I-component
•
P-0-0004, Velocity loop smoothing time constant
= minimum value
→
filter is switched off
•
P-0-0004 = 125
VDGYDQFHG3ELW
2 = 1)
•
P-0-0004 = 250
VEDVLF3ELW
2 = 0)
•
P-0-1120, Velocity control loop filter: filter type
= [0 0 0 0]
→
deactivated
Note:
When determining the velocity loop parameters there mustn’t
have been any friction torque compensation or reversal
clearance compensation activated, because it influences the
control behavior.
Preparing the Setting of the
Velocity Loop
Start Settings
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
