Kollmorgen BDS5, Инструкция по установке и настройке

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BDS5 C
HAPTER
3 - O
PERATION
3-3
On power-up, the integrating velocity loop will be
enabled (that is, PROP is turned off) and the position
loop will be turned on. Be careful to turn PROP on
and PL off every time you power-up until you
stabilize the system for an integrating loop.
PROP is turned off and PL is
turned on at power-up. If you
are following this procedure
to stop oscillations, be certain
to turn PROP on and PL off
every time you power-up the
drive.
Now enable the drive by typing:
EN
Reduce the proportional gain (KPROP) until
oscillations stop. Type:
KPROP = KPROP/2
You may need to repeat this command a few times.
After oscillations stop, enable the position loop by
typing:
PL ON
Next, reduce the position loop gain (KP) until
oscillations stop. Type:
KP = KP/2
You may need to repeat this command a few times.
If you need to tune your system for better
performance, see Section 3.3.
3.2.4 Jogging the Motor
If you can enable the BDS5 without motor
oscillations, then you can jog the motor. First, you
should temporarily disable the BDS5 software
position limits. Type:
PLIM OFF
Now type:
J 10
and the motor should rotate at 10 RPM. If PROP is
on, the motion will be very unsteady. You need an
integrating velocity loop for good low speed
performance.
Disable the BDS5 and enable the software position
limits. Type:
DIS
PLIM ON
3.2.5 Low Speed Adjustment
SKIP THIS SECTION IF YOU HAD TO TURN
PROP ON TO STABILIZE YOUR SYSTEM. The
BDS5 has a low-speed adjustment. This adjustment
helps smooth very low-speed motion. This
adjustment is made with the variable KC which is
normally set to 200. This value of KC produces
sufficiently smooth low speed performance for almost
all applications. However, if your application is very
demanding, you may want to adjust KC somewhat. It
is rare for this procedure to be required.
1. Turn PL off by typing:
PL OFF
2. Twist the motor shaft back and forth lightly at
about 1 or 2 twists per second. You should
feel very slight "graininess." This graininess is
similar to the feel of anti-backlash gears. If
you want to make the graininess more
pronounced (so that you can feel it), set KC to
zero. Type:
KC = 0
3. Adjust KC so that the graininess is minimized.
The best way to do this is by attaching a mirror
to the motor shaft and shining a laser onto the
mirror and observing the reflected dot about
10-20 feet from the motor. You can attempt to
"feel" the graininess, but that measurement is
so coarse that you should probably just set KC
to 200 and skip this procedure. The normal
WARNING