5 Commissioning
BU 0510 EN
technische Änderungen vorbehalten
39
5 Commissioning
When commissioning PosiCon applications, it is recommended that a specific sequence is followed. The individual
steps are described below. Information about special error screens can also be found in Chapter 7,
Troubleshooting.
1.
step: Starting the axis without regulation
After all parameters are input, the axis must be started up initially without position and speed control. To do this, the
position control must be switched off in the parameter group "Positioning" in parameter P600 "Position control" and
the servo- mode must be switched off in the parameter group "Control parameters" in parameter P300 "Servo
mode".
NOTE :
Ensure that all emergency stop and safety circuits are functional!
Measures must be implemented for lifting equipment before switching on to prevent the load from falling.
In lifting equipment applications with speed control, the parameters P107 "Brake reaction time" and P114 "Brake
delay off" must be optimised for load take-up only after the speed control has been set.
2.
step: Commissioning the speed controller
If speed control is not required or an incremental encoder is not used, this step can be omitted, otherwise the servo
mode must be switched on. Precise motor data (parameter P200 and following parameters) and the correct
encoder resolution / pulse number of the incremental encoder (parameter P301, "Incremental encoder" must be
parameterised for operation in servo mode.
If the motor only operates with a small speed and large current consumption after servo mode is switched on, there
is usually an error in the wiring or the parameterisation of the incremental encoder connection. The most common
cause is the incorrect assignment of motor rotation direction to encoder counting direction. The optimisation of the
speed control is implemented after the position control is commissioned as the behaviour of the position control
circuit can be influenced when the speed control parameters are changed.
3.
step: Commissioning the position control
After the parameters P604 "Encoder type" and P605 "Absolute encoder" have been set, it must be checked
whether the actual position has been correctly recorded. The actual position is shown in parameter P601 "Actual
position". The value must be stable and become larger when the motor is actuated with Enable right. If the value
does not change when the axis is moved, the parameterisation and the connection of the encoder must be
checked. The same applies if the display value for the actual position changes even though the axis is not moving.
Subsequently a setpoint position close the actual position should be parameterised. If the axis moves away from
the position instead of towards it after enable, the assignment between motor rotation direction and encoder
direction does not match. The ratio sign must then be changed.
When the position actual value acquisition works correctly, the position control can then be optimised. In general,
when the P boost is increased the axis becomes "harder", i.e. the deviation from the setpoint position remains
smaller than with smaller boost values.
The dynamic behaviour of the entire system determines how high the P boost can be set in parameter 310 of the
position control. In general, the following applies: The greater the masses and smaller the friction of the system, the
greater the tendency to fluctuation of the system and the smaller the maximum possible P boost. To determine the
critical value, the boost is increased until the drive fluctuates around the position (leaves the position briefly and
comes back). The boost must then be set to 0.5 – 0.7 of that value.
When using positioning applications with underlying encoder (P300 "Servo mode"), it is generally recommended
that a setting other than the default setting is used for applications with large masses. A value between 3% and 5%
has been proven in practice for the encoder I boost, which must be parameterised in parameter P311. A value from
100% to 150% can be selected in parameter 310 for the encoder P boost.
