Rockwell Automation Allen-Bradley LDAT-S03 Series, Руководство пользователя

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38 Rockwell Automation Publication LDAT-UM001A-EN-P - April 2016
Chapter 4 Commission
Preventing Undetected and Repetitive High Energy Impacts
To prevent high energy impacts, take normal motion system precautions and
make sure the Position Error Tolerance is suitable for your application.
Normal motion system precautions include the following:
• Interlocks for access
• Range of motion hardware and software limits
In addition you must complete these tasks:
• Determine limit positions that are based on maximum speed and load,
and stopping distance at peak capability of motor or drive. You can use
Motion Analyzer to determine these positions
• Program the position error fault action to Disable Drive (default) or
Stop.
• Program the Limits tab in Axis Properties to reduce the Position Error
Tolerance. Typically, a value less than 10 mm (0.39 in.) is achievable
without causing nuisance Position Error (E19) faults.
• In higher speed applications, implement 100% Velocity Feed-forward
on the Axis Properties Gains tab. This value reduces the Position Error
during normal axis motion.
• After performing an Auto-Tune, always set the Position Error Tolerance
back to the established reduced values.
When a closed-loop servo system is operating, changes in loads, obstructions,
or equipment dynamic response can cause motor capacity to be exceeded.
Under these conditions, the Kinetix 6000 and Kinetix 2000 drives fold back
the current to the motor to prevent thermal damage.
Torque Level 20%, min
Greater if the system friction, force, or weight exceeds 30% of the Continuous
Force Rating at any point in the range of motion
Speed 5 mm/s
Return Speed 10 mm/s
(1) The 10 mm offset sets the home position to an axis location clear of the spring stops.
ATTENTION: Avoid excessive force while homing the linear thruster. Do not
exceed 100 mm/s (4.0 in/s) during a home routine. Speeds greater than
100 mm/s (4.0 in/s) can damage the linear thruster when the slider reaches
the end of travel.
ATTENTION: Load changes, obstructions or equipment dynamic responses
can exceed motor capacity.
Parameter Entry/Selection