Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Copying device parameters from the assistant to the plug-in
Device parameters that are defined or calculated in the auto-tuning assistant are only transferred to
the plug-in through specific actions. The device parameters are not transferred if these actions are not
executed and the assistant is cancelled.
Action Transferred parameters
Actuate "Start auto tuning" but-
ton. – Identification with movement
– Maximum movement stroke during the identification
– Maximum velocity during the identification
– Maximum acceleration during the identification
– Maximum deceleration during the identification
Actuate "Execute test run" but-
ton. – Number of validation movements
– Movement stroke during validation movement
– Maximum velocity during validation movement
– Maximum acceleration during validation movement
– Maximum deceleration during validation movement
Actuate "Apply values" button. – Result amplification gain of position controller
– Result amplification gain of velocity controller
– Result integration constant of velocity controller
Tab. 43 Transferring device parameters
Running auto-tuning
Before identification:
1. On page "Constraints" of the assistant, adjust the motion parameters for identification.
If the maximum acceleration value is changed during the identification, the maximum deceleration
value changes by the same amount during the identification.
2. Actuate "Next" button.
Ä The page "Start" is displayed.
3. On page "Start":
– Adjust the stiffness to the axis type.
– The dynamics for the closed-loop controller calculation can be defined with the scroll bar.
The start parameters for the closed-loop controller are influenced by the selection. A standard
value for the rigidity is recommended depending on the selected configuration. The relevant value
is highlighted with the "(recommended)" addition.
Once the marginal conditions are set, the motion measurement can be carried out. The button "Start
auto tuning" is only active if the following prerequisites are met:
–
The plug-in is connected to the device.
CMMT-ST Plug-in
75 Festo — CMMT-ST-SW — 2019-02