Kollmorgen BDS5, Инструкция по установке и настройке

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C
HAPTER
3 - O
PERATION
BDS5
3-8
PEMAX 30000
ZPE
;ZERO POSITION
;ERROR TO AVOID
;POSITION ERROR
;OVERFLOW WHEN
;ENABLING POSITION
;LOOP
PL ON
KF=0
RUN 80
The motor should again begin turning. Now adjust
KP until the motor is performing appropriately.
Table 3.4 shows the relationship between a properly
tuned position loop (that is, the highest setting for
KP) and velocity loop bandwidth. Note that the
position loop bandwidth will be substantially lower
than the velocity loop bandwidth (usually by a factor
of 5 to 10).
Table 3.4. Velocity Loop Bandwidth vs.
KP
MAX
KP
MAX
VELOCITY LOOP
BANDWIDTH
500 5 Hz
1000 10 Hz
1500 15 Hz
2000 20 Hz
2500 25 Hz
3000 30 Hz
4000 40 Hz
5000 50 Hz
If you want to eliminate some or all of the following
error, you can raise KF as high as unity feed-
forward (Unity is defined as KF = 16384). However,
the larger you make KF, the more you must reduce
KP to eliminate overshoot and thus reduce the
position loop performance. If you cannot get the
desired performance from the position loop, then try
reducing ACC and DEC to reduce overshoot. This
can be a good way to limit overshoot in the position
loop, and you may be able to raise KP slightly (about
20%) to improve performance.
3.7 RECORD AND PLAY
The RECORD command allows you to record most
BDS5 variables in real time for later playback. You
can simultaneously record up to four variables. You
can record any variable except PE, REMOTE,
TMR1, TMR2, TMR3, TMR4, VAVG, VXAVG, or
any user switches. You can specify the time between
points from one millisecond to one minute. You can
record up to 1000 instances of 1 variable, 500
instances of 2 variables, 333 instances of 3, and 250
instances of 4 variables.
The format of the RECORD command is
RECORD <Number> <Time> <1 to 4 Variables>
Where number is the number of intervals over which
the variables will be recorded, and time is the time in
milliseconds of each interval.
Note: <Number> <= 1000 for 1 Variable
<Number> <= 500 for 2 Variables
<Number> <= 333 for 3 Variables
<Number> <= 250 for 4 Variables
For example,
405$ ;BEGINNING LABEL
EN ;ENABLE BDS5
RECORD 500 1 VFB ;RECORD VFB FOR
J 1000
;1/2 SECOND JOG
B ;1000 RPM
Records the velocity response of the BDS5 to a jog
command.
After data is recorded, you can use the PLAY
command to print each point on the screen. However,
Motion Link provides all the routines to retrieve, plot,
print, and store recorded data on your computer and
line printer.
The RECORD command is useful when tuning a
system because you can display the BDS5 response to
commands without an oscilloscope. However, it is
not limited to tuning. For example, you can record
VCMD to plot a motion profile, or you can plot
VEXT to watch the external encoder/analog input.
You can also plot user variables to watch the
performance of your program.