Saia PCD2.H310, Руководство пользователя

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PCD2.H31x Installation and commissioning
26/762 E2
(2H3-09-E.DOC)

SAIA-Burgess Electronics Ltd. Page 9-11
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The axis runs at a constantly slow velocity (drift).
Possible cause
•
The setpoint is not reaching the power stage, regula-
tion is not active in the H3 module.
Remedy
•
Check wiring.
•
Check whether, after the 'StartMot' instruction, the
profile generator in the H3 module outputs a target
velocity (instruction 'RdTargVel'), which means that
the regulator in the H3 module is working correctly.
•
The axis starts running briefly, and stops again.
Possible cause
•
Position error monitoring has responded and stopped
the drive. (The motor cannot follow the motion de-
fined)
Remedy
•
Correct possible mechanical problems.
•
Adjust velocity and acceleration.
•
Increase max. value for position error.
•
The axis runs jerkily to an incorrect destination position.
Possible cause
•
Loose mechanical connection of encoder and motor
(coupling).
Remedy
•
Correct possible mechanical problems.
When approaching the destination position a persistent position error is
noticeable. This is accounted for by the permanent control deviation in a
straight P controller (I and D factors are 0).
In a subsequent step, therefore, control factors must be determined which
achieve the desired quality of regulation (accuracy and hardness).
The set-up rules indicated below have arisen from experience in practical
applications and tests.