Danaher Motion B8961, Руководство оператора

Страница: 47 / 158

Chapter 4 - Configuring Your System
45
Key Pad Tuning
The Keypad tuning utilities were designed to mimic most of the capabilities of
IDC’s
Servo Tuner software,but in a menu structure format.The default gain
parameters generally provide adequate performance.If your application requires
exceptional performance,whether it be low velocity ripple, fast settling times,or
no steady state position er ror, you will may need to modify these standard gain
parameters.
The keypad menu tree is shown below. Explanations on the use of the TORQUE,
VELOCITY, and POSITION toggles can be found in the
Servo Tuner manual.The
same basic strategies presented there,apply to keypad based products as well.
Keypad Tuning Menu Tree
Axis Sub- Set-up Description of Set-up Parameters
Menus Parameters
GAINS KV Velocity Gain
KP Position Gain
KI Integral Gain
KFA Feed Forward Acceleration Gain
KFV Feed Forward Velocity Gain
TOGGLE TORQUE Torque toggle (magnitude and period)
VELOCITY Velocity toggle (magnitude and period)
POSITION Position toggle (magnitude and period)
MONITOR MODE Configures monitor output function
RANGE Scales output function
NOHUNT ON/OFF Anti-hunt proprietary servo algorithm
WINDUP ON/OFF Anti-Inertial windup proprietary servo algorithm
GAINS Setting the Servo Gains
There are five user accessible ser vo GAINS, available
to tune your system.The gains are described below.
1.
Use an F1,F2,or F3 to highlight the gain you wish to change.
2. Use the
áâ
keys to switch to the other menu.
3. Use the numeric k eys to Enter a new value for the gain that is highlighted.
If you need to tune your system,the fastest way to get top performance out of it is
to tune it from “scratch.” Set all your gains to zero,and follow the procedure
outlined above,or in the
Servo Tuner manual.
CAUTION: This procedure does not work on load with steady
state forces (such as gravity in a vertically oriented application).
Call IDC for details on tuning these difficult loads.
á
KV=1537
â
< KV > KP KI
á
KFA=0
â
< KFA > KFV
EDIT TUNING AXIS GAINS