36
Rev. 1.0
0006302011
SSM24C User Manual
+86-400-820-9661
Adjust the KP and KD parameters and observe
the results. Increasing the KP may improve the
positioning performance, but it may also cause the
system to be more unstable. To counter this the KD
can be increased. The KD parameter is important:
too little gain will cause the system to oscillate; too
much gain may cause the system to squeal from a
high frequency oscillation. If a very springy coupler is
used between the motor and load, the KD parameter
may need to be reduced until the system is stable
or the
Notch Filter
may need to be used to reduce
the system gain at the sensitive frequency where it
oscillates.
5.6.4 The Deri Filter (KE) parameter
With a large inertial load, the KP and KD gain
parameters may need to be set high to get good
response. The filter may then need to be decreased in value (lower frequency) to prevent ringing
or decrease the derivative noise.
5.6.5 Filter parameter (again)
Sometimes it may also be necessary to adjust the output filter when gain values increase. The
filter frequency may then need to be decreased in value to prevent ringing or oscillation.
5.6.6 Verify the Drive Current
The amount of drive current can be verified at any time during the tuning process to make sure the
current supplied to the motor is not being limited by the drive. If too much current is being required
changes may be made to the move profile. Select
Current
in one of the
Plot
selection lists and
repeat the move, from this the current can be evaluated.
5.6.7 Finishing up
After verifying the drive current, the
Notch Filter
may be the only setting still needing adjusting.
See section 5.8 on “Setting the Notch Filter”.
5.7 Using Auto Trigger Sampling
In cases where an external controller is used to perform move profiles, such as in the
Position
Control Mode
using
Pulse & Direction
input, the
Auto Trigger
will allow the
Sampling
to collect
data and display the move profile.
This sampling technique is different in that it is not triggered by the start of a move profile as the
drive cannot know when the move is actually started (remember the controller is external). Instead
the
Auto Trigger
waits for a predefined set of conditions to tell it when to start collecting the move
profile data.
