Parker Gemini GV6K Series, Руководство по установке оборудования

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Chapter 3 – Configuration
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Command Description Options:
DACTDP active damping gain you enter a number
DDAMPA damping during acceleration can be turned on or off
DELVIS electronic viscosity can be turned on or off
DABSD ABS damping can be turned on or off
Tuning Procedures – GV6K Servo
During the Express Setup procedure in Chapter 2 Installation , the drive uses
default values for tuning parameters, based upon the motor information you
entered. That procedure assumes that the motor is
unloaded . In the following
tuning procedures, you will enter system information that will characterize the
load on the motor.
Entering Load Settings
The main load setting you will adjust is LJRAT, which is the load-to-rotor inertia
value for your system. The more accurately you know this value, the closer your
tuning bandwidth settings will correspond to the actual dynamic performance of
your system. If you only know this value approximately, you can adjust this value
until you achieve the system performance you desire. The total system inertia is
given by the following formula:
Total system inertia = motor rotor inertia *(1 + LJRAT )
If your system has significant mechanical damping, you will also want to adjust
the LDAMP setting which specifies system damping provided by the load. If you
know that you have significant damping in your system from your load but do not
know its exact value, you can adjust this value until you achieve the system
performance that you desire.
Both the LJRAT and the LDAMP values can be set in the terminal mode of
Motion Planner. During the tuning process you may want to use the terminal
emulator to establish appropriate values for these parameters, and then save the
drive’s full configuration settings for use with other units.
Position Mode Tuning
For most applications, the default tuning parameters for position mode are set to
provide good, stiff motor shaft performance for a given load setting. With the
default tuning parameters set in the Express Setup procedure, you need only set the
system load-to-rotor inertia ratio and your system will be tuned. If your system has
significant mechanical damping, you may need to set the system damping as well.
Should you wish to modify the default values and fine tune your system for
position mode, use the following procedures
WARNING
This procedure causes the motor shaft to move. Make sure that shaft motion will
not damage equipment or injure personnel.