35
Rev. 1.0
0006302011
SSM24C User Manual
+86-400-820-9661
Actual
Speed
and
Position Error
are selected. For Position tuning these are typical values.
Sample Move:
move profile values are entered in the
Sampling
section. This example sets a
move
Distance
of 3.00 revs at a
Max Speed
of 20,000 rev/sec and an
Accel/Decel
rate of 300
rev/s/s. In the window to the right of the
Sampling
data entry section the
Desired
Profile
will be
displayed. This provides a visual reference of what the expected move will look like.
Plot Zoom:
the length of the plot values that are displayed can be set from 1 to 5 times the profile
length.
Dir:
the direction of the move can be set to
cw
,
ccw
or
alternate
. These directions refer to the
motor shaft as viewed from the front of the motor.
Alternate
toggles the direction after each move.
Start with a known direction before switching to toggle.
Sample Once:
after the
Start
button is clicked, a single move is performed, the motor stops, and
the results will be displayed.
Sample Continuously:
after the
Start
button is clicked, the move will be repeated and the results
displayed until the
Stop
button is clicked. During continuous sampling the tuning gains can be
changed at any time and will be updated automatically. This enables more dynamic adjustment of
the gains for speeding up the tuning process.
5.6.2 Performing a Move
Once the move settings are correct the mechanism to be moved shold also be checked to ensure
it is ready to move. It is especially important to make sure the direction is set correctly. In some
cases it is wise to select
alternate
to avoid running the mechanism into a hard stop. Select the
Sample Once
button. Click the
Start
button and observe the results.
If problems occurred during the move an Alarm indicating a Fault or Warning may be displayed
and need to be cleared. The drive may be left disabled until the Alarm is cleared and the Enable
button is clicked.
Note: Clicking the Alarm Reset button and then the Enable button will clear a fault and
enable the drive.
Now the motion parameters will need to be adjusted
to achieve the desired move profile. The move can
be repeated by clicking the
Start
button. If the drive
continues to fault it is possible the maximum current
or position error parameters are being exceeded.
These can be set in the
Drive
Configuration
tab.
The current setting can be checked by selecting
Current
in one of the Plot lists and clicking
Start
again to see what current is being required of the
drive during a move. The current profile of the move
will be displayed and may give a clue as to why a
fault is occurring.
5.6.3 Adjusting the Gain (KP) and Deri Gain (KD) parameters
