Kollmorgen BDS5, Инструкция по установке и настройке

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BDS5 C
HAPTER
3 - O
PERATION
3-7
approximately 30 Hz and is critically damped. The
allowed bandwidths are 5, 10, 15, 20, 25, 30, 40, and
50 Hz.
The tune command does not always provide an
acceptable tuning. If not, you can tune the BDS5
yourself.
3.6 TUNING THE BDS5 YOURSELF
If you use the TUNE command, and the resulting
tuning variables cause the system to oscillate, there
are generally two reasons:
1. The bandwidth in the TUNE command is set
too high for the system to function properly.
2. The low-pass filter is set too low (this only
applies if LPF is on).
In either case, first raise the low-pass filter frequency
(LPFHZ) to as high a level as is acceptable. You may
even decide to remove it by setting LPF to off.
If the TUNE command does not provide a suitable set
of tuning variables, then you have the option of
tuning the BDS5 yourself. You will need an
oscilloscope. Connect an oscilloscope channel to
TACH MONITOR on Connector C2, Pin 2; attach
the scope ground to COMMON on Connector C2, Pin
14. Use the TUNE command to get as close as
possible.
3.6.1 Tuning the Velocity Loop
The drive will be enabled and
the motor will turn. Make sure
the motor is secured.
Drawing A-84888 shows how to manually tune an
integrating velocity loop. This procedure sets KV
and KVI. First, you should use the TUNE command
to set KV and KVI close to optimum values. Apply
DC bus voltage to the BDS5. Follow the instructions
shown on Drawing A-84888. The motor should start
and stop every second. Press the escape key to enter
the monitor mode where you can change tuning
constants. The tach should be on the oscilloscope,
showing the motor performance. As the drawing
notes, you should increase KV for increased stability
and increase KVI to make the system more
responsive.
You need to make several decisions: Is the unit
underdamped? Is the system response too fast? Is
the system ringing? Is there a resonance present?
Then, take the action listed on Drawing A-84888.
There is a close relationship between the response of
the system and the variable KVI. Response is often
measured by the system
bandwidth . Bandwidth is the
frequency with which the system response falls to
70% of the nominal response. For example, if your
velocity command was a sine wave with peaks of
±100 RPM, the bandwidth would be the frequency
that the response fell to a sine wave with peaks of
±70 RPM. The relationship between velocity loop
bandwidth and KVI is shown in Table 3.3.
Table 3.3. Velocity Loop Bandwith vs. KVI
KVI
VELOCITY LOOP
BANDWIDTH
1400 5 Hz
2650 10 Hz
4000 15 Hz
5000 20 Hz
6250 25 Hz
7500 30 Hz
8750 40 Hz
10000 50 Hz
If you are using a proportional velocity loop (PROP
is on), then adjust KPROP until the motor is
performing appropriately.
3.6.2 Tuning the Position Loop
Once the velocity loop is tuned, you can tune the
position loop. Break program execution and stop
motion by typing S. Type in the following
commands:
The drive will be enabled and
the motor will turn. Make sure
the motor is secured.
WARNING
WARNING