Lenze SimpleServo 94, Руководство пользователя

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IMS94S-mv1
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8.7 Tuning in position mode.
Note
In this mode the Velocity gains should be set first.
1. Perform velocity loop tuning as per section 8.6.
2. Make sure that drive is online (connected).
3. Make sure that the drive is disabled.
4. Set up your external indexer to perform following move:
5. Move forward N steps, where N = number of steps to perform full motor shaft
revolution.
6. Move backward N steps, where N = number of steps to perform full motor
shaft revolution.
7. Set acceleration / deceleration to maximum your system allows.
8. Select <Tools> then <Scope> tool from node tree to engage oscilloscope.
9. On the Scope tool select:
10. Motor Velocity as source for Channel 1
11. Position error as source for Channel 2.
12. Timebase: 50mS.
13. Trigger: Channel 1, Rising.
14. Enable the drive.
15. Select <Compensation> from node tree. Set P-gain to 100 and D - gain to
200, I-gain to 0 and IL limit to 0.
16. Run indexer and observe position error waveform.
17. Slowly increase simultaneously P-gain and D-gain and watch for Position
error waveform. Continue to increase both gains until you see noticeable
oscillation on flat portion of waveform. Now stop increasing P-gain, and
continue to increase D-gain until oscillation stops. Now the ratio between
P-gain and D-gain is set and if you need to increase or decrease P-gain in
next steps you will need also increase/decrease D-gain accordingly to keep
their ratio. The task is to minimize position error increasing P-gain and at the
same time avoid oscillation and instability by increasing D-gain. There could
be a case when increasing P-gain breaks system to oscillation and you can
even hear audible noise. Increase of D-gain doesn’t fix the situation. At this
point you will need to lower P-gain (and possibly lower D-gain too) to the
level when noise and instabilities disappear.
18. Finally set I-limit to 200 Rpm and adjust I-gain to obtain desirable result in
steady state.
19. Stop indexer and disable drive.
Note
Remember that these are only initial settings for your system. Your
application will likely require fine-tuning. To optimize settings you will
need to experiment with combinations of all gains P, D and I and IL
limit settings.