Lenze PositionServo 940, Руководство пользователя

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S94P01B
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S951
13. Slowly increase the “Velocity I-gain” and watch for an overshoot on the motor
velocity waveform. Stop increasing the setting when overshoot just starts to
occur or is very narrow. The setting should be less then 5mS or less then
3-5%, if a steep acceleration/deceleration is desired in your servo system. If
stiffness at low velocity or stall torque is desired then the “Velocity I-gain” can
be increased allowing step overshoot up to approximately 15-30%.
14. Finally, check the motor Iq current. Set the oscilloscope Channel 1 source to
Iq current. Observe the current waveform to insure that there is no significant
oscillation.
15. Click “Indexer” -> “Stop” or alternatively Alt+F5 on the keyboard to stop the
program. Remove voltage from IN_A3 input.
16. Depending on the application you may want to set parameters “Reference”
and “Enable switch function” to appropriate values. Refer to section 6 for
details.
8.7 Tuning in position mode
In this mode the Velocity gains should be set first.
1. Perform velocity loop tuning as per section 8.6. Select I-Gain value for
minimum overshoot.
2. Make sure that the drive is disabled.
3. Load program “TuneP.txt” found in User Data directory in current Motion
View installation, compile and load it to the drive but don’t run it yet.
4. Select “Tools” then “Oscilloscope” tool from node tree.
5. On the Scope tool select:
• Channel 1: “Position Error”
• Scale: 100 pulses/div
• Channel 2: “Target Position”
• Scale: 0.1 Unit/div
• Timebase: 50mS
• Trigger: Channel 2, Rising
• Trigger level: 0
6. Select “Compensation” from node tree. Set “Position P-gain” to 100 and
“Position D-gain” to 0. Set “Position I-gain” to 0 and “Position I-limit” to 0.
7. Activate IN_A3 and run the “TuneP.txt” program.
8. Slowly increase the P-gain while watching the Position Error waveform ,
(channel 1). While increasing P-gain you should observe the position error
decrease. At some point you should start to experience high frequency
oscillation noticeable on the Position Error waveform, (see picture below).
Increase D-gain to suppress the oscillations.