Parker Gemini GV6K Series, Руководство по установке оборудования

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Gem6K Hardware Installation Guide
Lag Filter Adjustment Procedure
The lag filter can act as a low pass filter, and reduce the effects of electrical noise on the
commanded torque. (It can also reduce the effects of resonance at low frequencies—
below 60 Hz—where the notch filters are not effective.)
1. As described in Steps 2 – 3 in the Notch Filter Adjustment procedure above, reduce
DMTLIM and connect an oscilloscope.
2. Verify that the lead filter is turned off (DNOTLDØ).
3. Configure the drive for position tuning mode. Observe the system’s response to the
tuning mode’s step input.
4. Choose a value for the lag filter (DNOTLG) that reduces low frequency resonance
and provides satisfactory system performance.
5. If you are done adjusting filters, reconfigure DMTLIM to its default value. Otherwise,
proceed to the
Lead /Lag Filter Adjustment procedure below.
Lead/Lag Filter Adjustment Procedure
The lead filter can counteract the effects of the lag filter at higher frequencies. Do not use
the lead filter by itself—if you use the lead filter, you must also use the lag filter.
1. As described in Steps 2 – 3 in the Notch Filter Adjustment procedure above, reduce
DMTLIM and connect an oscilloscope.
2. Set the lag filter (DNOTLG) as described above.
3. Configure the drive for position tuning mode. Observe the system’s response to the
tuning mode’s step input.
4. Choose a value for the lead filter (DNOTLD) that improves system performance.
This value will typically be higher in frequency than the lag filter setting.
5. You must choose a value for the lead filter that is
higher in frequency than the lag
filter value. However, do not set the lead filter higher than four times the lag filter
frequency, or a drive configuration warning will result, and the drive will use the
previous filter settings.
6. If you are done adjusting filters, reconfigure DMTLIM to its default value.
Procedure for Configuring Advanced Features – GT6K
The GT6K has advanced motor control features that you can configure for
increased damping, increased low speed smoothness, and increased disturbance
rejection; and for detecting motor stalls.
Configuring Damping Settings
The GT6K’s three damping modes reduce vibration, increase low speed smooth-
ness, and decrease load settling time. These damping modes are independent of
each other, and operate within specific velocity ranges.
ABS Damping
ABS damping provides load-invariant damping at extreme low speeds. It
targets applications that require minimal zero-speed settling time (for ex-
ample, pick-and-place applications with varying load).
Velocity
Command Function Range Default Contributing Parameters
DABSD ABS Damping 0 to 0.2 rps* Disabled DMTRES, DMTIND
*motor dependent
Electronic Viscosity
Electronic viscosity targets applications that require reduced low-speed
velocity ripple and increased smoothness, as well as aggressive low-speed