Lenze PositionServo 940, Руководство пользователя

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S94P01B
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8.3 Position mode operation (gearing)
In position mode the drive will follow the master reference signals at the P3. 1-4
inputs. The distance the motor shaft rotates per each master pulse is established
by the ratio of the master signal pulses to motor encoder pulses (in single loop
configuration). The ratio is set by “System to Master ratio” parameter (see section
6.3.16).
Example 1.
Problem: Setup the drive to follow a master encoder output where 1 revolution of
the master encoder results in 1 revolution of the motor
Given: Master encoder: 4000 pulses / revolution (post quadrature)
Motor encoder: 8000 pulses / revolution (post quadrature)
Solution: Ratio of System (motor encoder) to Master Encoder is 8000/4000 = 2/1
Set parameter “System to master ratio” to 2:1
Example 2
Problem: Setup drive so motor can follow a master encoder wheel where 1
revolution of the master encoder results in 3 revolutions of the motor
Given: Motor encoder: 4000 pulses / revolution (post quadrature)
Master encoder: 1000 pulses / revolution (post quadrature).
Desired “gear ratio” is 3:1
Solution: Ratio is motor encoder PPR divided by master encoder PPR times the
“gear ratio”:
(Motor PPR / Master PPR)*(3/1) => (4000/1000)*(3/1) => 12/1
Set parameter “System to master ratio” to 12:1
8.4 Dual-loop feedback
In dual-loop operation (position mode only) the relationship between the Master input
and mechanical system movement requires that two parameters be set:
(1) “System to master ratio” sets the ratio between the second encoder pulses (system
encoder) and the master input pulses.
(2) “Prime to second encoder ratio” sets the ratio between the second and primary
(motor) encoder. If the motor is equipped with a resolver connected to the resolver
option module, the primary encoder resolution of 65536 (post quadrature) must be
used.
When operating in this mode the second encoder input is applied to integral portion
of the position compensator. Therefore it is important that the Position I-gain and
Position I-limit parameters are set to non 0 values. Always start from very small
values of Position I-limit values.
Note
When operating with a resolver as the primary feedback, a second
encoder can be connected to P4.