Danaher Motion B8962, Руководство оператора

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Chapter 4 - Configuring Your System
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Tuning Your Servo System
Your B8961 or B8962 IDeal ™ Programmable Smart Drive is a high-performance
servo drive and motion controller in a single package.Your entire servo “system”
includes the Smart Drive,motor and encoder.The encoder provides motor position
and velocity feedback to the Smart Drive.You create a motion program using the
IDeal programming language.The Smart Drive generates move trajectories and
motor torque based on your high-le vel commands,which tell the motor where to
go.It also takes care of closing the servo loops,which force the motor to follow
the velocity and position profiles.
Since the B Series Smart Drive is a fully digital drive,motor data must be
downloaded to it prior to operation.When an IDC MOTOR TYPE is selected from
the EDIT/SETUP menu in the Keypad or Application Developer, motor data and
tuning parameters are downloaded from the controller’s non-volatile memory, to
the drive’s on-board memory.This data includes motor winding information,pole
count,and encoder resolution.These files also contain default tuning parameters.
The tuning parameters have been optimized for use with IDC motors and
actuators.They work very well with inertia ratios up to about 15 to 1.Most
applications,in fact over 80%, require
NO ADDITIONAL TUNING
.
The B Series Smart Drives also allow you to monitor the performance of the drive
during machine integration.Each axis has an analog Monitor Port that can be
configured to output position and velocity error, as well as commanded velocity,
commanded torque,and actual torque,in real time,scaled to user defined units.The
Monitor Ports,along with an oscilloscope,make a powerful diagnostic tool.The
Monitor Port is a 12 bit analog signal,updated at 2 kHz.
IDC’s DSP-based servo Smart Drives use an easy-to-understand digital servo
algorithm,so tuning is straightforward.You also have the option of invoking two
additional proprietary algorithms,Anti-Hunt and Inertial Anti-Windup which may
further improve your system’s performance.
Your Smart Drive can be completely tuned with just the keypad and an
oscilloscope.(Even the oscilloscope is optional for less demanding applications.)
The keypad has two built in tuning functions.The first configures and scales the
monitor output port.This allows you to view, on an oscilloscope, real time velocity
and position error. No more “guessing”at the best tuning values.The second
function outputs a torque, velocity, or position command square wave to the motor
and mechanics.This extremely demanding move profile makes it easy to determine,
and minimize, overshoot and response time.
Compensator