Kollmorgen BDS5, Инструкция по установке и настройке

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C
HAPTER
3 - O
PERATION
BDS5
3-6
THE MOTOR MAY
OSCILLATE!
Unloaded motors tuned for a
large inertia load may become
unstable when the system is
activated. If the system
becomes unstable, remove
the power immediately.
3.4.1 If Your System Is Completely
Unstable...
If your system is completely unstable when you
enable it, remove power immediately. After restoring
power, but before enabling the BDS5, turn off the
switch PL, reduce KV to 100, and reduce KVI to 0.
This should make the system stable.
;TYPE THESE LINES ONLY IF YOUR
;BDS5 IS UNSTABLE WHEN YOU
;ENABLE IT. DON'T FORGET TO
;RESTORE PL WHEN YOU HAVE
;FINISHED TUNING.
PL OFF
KVI = 0
KV = 100
If the BDS5 is still unstable, remove power and
contact the factory. If it is stable, continue on with
tuning. Do not forget to turn PL back on when you
have finished tuning. Also, PL is always turned on
during the BDS5 power-up.
3.4.2 Reducing ILIM
You may need to reduce ILIM before executing the
TUNE command since the TUNE command causes
the motor to "shake" at about 15 Hz and at full
torque. This may damage some machines. Also,
lightly loaded motors can overspeed if ILIM is too
high. You should raise ILIM to the highest level that
does not cause problems, because the tuning may not
be acceptable if ILIM is too low. The effect can be
that the torque the BDS5 produces is "swamped out"
by friction. If you are not sure how much ILIM is
necessary, reduce ILIM to a low value (say 5 or 10%)
and gradually raise it. If the tuning is acceptable (that
is, it does not ring or overshoot excessively, and it
does respond fast enough), then you are done. Do not
forget to restore ILIM to its original value.
The TUNE command shakes
the motor vigorously. You
may need to reduce ILIM
before executing the TUNE
command to protect your
machine. Do not forget to
restore ILIM when tuning is
complete.
The TUNE command can
cause the motor to overspeed.
You may need to reduce ILIM
to prevent overspeed errors.
Do not forget to restore ILIM
when tuning is complete.
3.5 TUNE COMMAND
When you enter a TUNE command, you specify the
response time and the stability level. The response
time is specified in the form of bandwidth. The
higher the bandwidth, the faster the response. The
level of stability is specified as follows:
Table 3.2. Allowed Tune Command
Stability Settings
1
2
3 Slightly overdamped
Critically damped
Slightly underdamped
The drive will be enabled and
the motor will turn. Make sure
the motor is secured. Even if
the BDS5 is disabled, it will
enable long enough to
execute the TUNE command.
Enable the BDS5 and type this command:
TUNE 30 2
The BDS5 will shake the motor and set the tuning so
that the velocity loop has a bandwidth of
CAUTION
WARNING
WARNING
NOTE