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Drive Configuration

Controller Tuning

5.4.1 Current Controller Structure

The controller structure consists of a PI-controller with proportional gain

and integral time constant

. Additionally, the integral term can be restricted to prevent integral wind-up.

In some cases the dynamic of the current loop can be improved by applying voltage feed forward. Fig-

ure 45 shows the block-diagram for voltage feed forward.

ServoDrive-SetupGuide_EP018

2022-08-25

Figure 44: Block-diagram of the PI current controller (simplified).

Figure 43: Block-diagram of the controller structure with current controller and position controller (simplified).

Figure 45: Block-diagram of the voltage feed forward.

Содержание TSD Series

Страница 1: ...date 25 3 7 Working with Tama Programs 27 3 8 Global Keys 28 4 Plug In Modules 30 4 1 Axis Module 30 4 2 Bode Tuning 32 4 3 Bode Measurement 33 4 4 Controller Tuning 37 5 Drive Configuration 41 5 1 Pr...

Страница 2: ...ent DC Direct Current HMI Human Machine Interface LED Light Emitting Diode PC Personal Computer STO Safe Torque Off TAM Triamec Advanced Motion TAM API TAM Application Programming Interface ServoDrive...

Страница 3: ...a Link observer To control Triamec drives with Beckhoff TwinCAT first setup the drives as described in this document Then proceed to document 2 for a Tria Link setup or 3 for an EtherCAT setup Names i...

Страница 4: ...TAM System Explorer 2 2 Software Installation For the commissioning of Triamec drives TAM System Explorer is required TAM System Explorer pro vides access to the drive parameters commands and signals...

Страница 5: ...ted device drivers In this case all programs accessing Triamec devices may fail 2 3 Connect Drive to PC For the commissioning of the drive the following options are available to connect the drive with...

Страница 6: ...rd The adapter card can be used either with a control system or with TAM System Explorer but not both at the same time To access the drives with TAM System Explorer while TwinCAT is running use an add...

Страница 7: ...devices and registers 2 Axis Monitor The axis monitor shows the state for each axis and allows to acknowledge pending errors Additionally emergency buttons are provided 3 Scope The scope allows to pl...

Страница 8: ...ters of the same type Tama Manager Allows to assign download and enable Tama programs Module User interfaces which simplify the register access e g for the tuning of the axes Option Module Option modu...

Страница 9: ...up the position con troller or the encoder Typically a parameter value is written when commissioning the drive and re mains unchanged except if the system is changed Parameters can be stored in a conf...

Страница 10: ...estart of the device In the tab panel commands are listed with the following columns Register the name of the register corresponding to the name of the tree view Value the actual value of the command...

Страница 11: ...is is marked with an error icon The error type is shown in the State column highlighted in red Resolved errors don t simply disappear They need to be acknowl edged using the Acknowledge Errors button...

Страница 12: ...is monitor also provides two emergency buttons Emergency switch off All power sections will switch off immediately if this button is pressed The axes are then released and may move until the kinetic o...

Страница 13: ...p when the two drives are synchronized e g if they use the same link If the registers are not shown in the Topology Tree click the Show Hide individual registers Button Scope settings can be set by op...

Страница 14: ...second The sampling time can be increased or decreased by changing the Default Sampling Time in the General tab for all signals or by changing the Sampling Time in the Plot tab for individual signals...

Страница 15: ...sampling time with a large number of plots will cause a huge amount of data Depending on the characteristic of the PC this could cause memory issues especially on 32 bit PCs 3 3 4 Y Axes Y axes can be...

Страница 16: ...Signal trigger It is also possible to use a signal from the plot list as a trigger source The following steps are required to setup a signal trigger 1 Select a trigger mode from the Select triggers p...

Страница 17: ...ical draggable line de fines the time of the trigger event The Plot property defines the trigger source It is possible to store the data of each trigger event automatically to a file on the PC with Au...

Страница 18: ...m range Undo zoom Undo the last zoom pan operation Reset zoom range Resets the min max range to the default values 3 3 7 Saving and Loading Scope Data Use the Scope menu to save and load plot data Fig...

Страница 19: ...state The first sub menu entry From Configuration allows to treat any previously saved scope configura tion as a template for the currently selected axis This is manly used for configurations where a...

Страница 20: ...frequency domain 3 3 10 Formatting The formatting and behavior of the scope individual plots and cursors can be configured in the respec tive tabs 3 4 Triamec Workspace When working with TAM System E...

Страница 21: ...der is shown in the title bar of TAM System Explorer 3 5 TAM Configuration The parametrization of a Topology Tree is called TAM Configuration The TAM configuration contains the parametrization of the...

Страница 22: ...uration on the PC the following steps are required see also Figure 18 1 Open the save configuration dialog by clicking File Save TAM Configuration 2 The Includes panel allows to select unselect items...

Страница 23: ...nexpected exception the process may be started again by using the Restart button 3 5 3 Load TAM Configuration The following steps are required to load a TAM Configuration 1 Open the Load Configuration...

Страница 24: ...ight column a not jet assigned station from the TAM Topology Tree can be assigned to the configuration If the station does not exist in the current tree select mark for removal To identify the target...

Страница 25: ...er features this is a convenient way to edit the configuration including Controller Tuning 3 5 5 Transferring a TAM Configuration It is often required to transfer a TAM Configuration from one machine...

Страница 26: ...cute the following steps to download the firmware Make sure that all axes are disabled and STO is not active Right click the device to open the context menu Figure 24 From the context menu choose Upda...

Страница 27: ...are written in C and compiled to the proprietary tama assembly format the Tama assembly That said both terms are used interchangeably A Tama program has access to the complete register interface of a...

Страница 28: ...e computer by clicking Download Tama assembly in the context menu Figure 25 Context Menu of the Tama Manager The menu entries also indicate whether the vir tual machines are currently enabled or not F...

Страница 29: ...eters EnableIsochronousTama to TRUE 3 7 4 Saving a Tama Program in a TAM Configuration File When the configuration is saved see section 3 5 2 while a Tama program is loaded the assembly is also saved...

Страница 30: ...module is assigned to the Topology Tree To access sub modules unfold the module node in the Topology Tree The user interface is shown in the tab panel in Module View Parameters as signed to the module...

Страница 31: ...dicator 5 At the top right corner the following information is displayed The axis name Axes Information AxisName The axis state Axes Signals General AxisState The actual position Axes Commands Positio...

Страница 32: ...to be pressed in order to enable the controls of the module Release the button Detach to return control to the superior control system Sub Modules Coupling Manager This module can be used to setup the...

Страница 33: ...eters Motor EncoderCountsPerMotorRevolution Axes Parameters Motor PeakCurrent Axes Parameters Motor NominalCurrent Axes Parameters PositionController Encoders Type Axes Parameters PositionController E...

Страница 34: ...ement default 20Hz Max Frequency This parameter defines the upper limit of the frequency range default 10kHz Frequency Steps This parameter defines the resolution of the measurement in the frequency r...

Страница 35: ...arning Warning The three parameters Output Maximum ActualCurrentQ Maximum and Position Maxi mum are used to deduce the amplitude of the harmonic excitation of the axis This pa rameters must be set wit...

Страница 36: ...0 The dynamic behavior of a machine may change depending on the location of the axes Therefore it is recommended to do the measurement at several locations in the machine workspace Generally the quali...

Страница 37: ...BodeConfig for more information 4 4 Controller Tuning The saved Bode measurements can be used to design and optimize the position and current controllers with the Bode Tuning editor The following step...

Страница 38: ...values are stored like prepare values in registers The background changes its color to orange indicating a modified but not yet committed parameter After each change the Bode and Nyquist Figures are...

Страница 39: ...eft corner of the graph The label dis plays the frequency gain and phase at the cross hair location To select a different signal the cross hair has to be dragged to the new signal At the beginning the...

Страница 40: ...s Shift or Ctrl and right mouse key to reset the zoom area Zooming is also possible by pressing Shift and turning the mouse wheel If zoom is applied the cross hair can be out of scope Zoom out is requ...

Страница 41: ...he Axes Information registers see also section 3 1 4 Motor Specifications found in the motor data sheet Type of motor dc ac synchronous linear rotational Peak current4 Nominal current4 Thermal time co...

Страница 42: ...tor of the drive is used to connect the mo tor How will the axis be referenced Move range of the axis Dynamic specifications of the axis max velocity max acceleration max jerk How should the axis be c...

Страница 43: ...is recommended to reset the registers to default values see section 3 5 1 The register Tree contains three nodes General The General node contains registers which are relevant for the drive but not d...

Страница 44: ...nabled for the duration of BrakeHoldTime to avoid a move ment of the axis during this delay InvertDirection With this parameter it is possible to alter the electrical direction of the motor The positi...

Страница 45: ...peak current specified in the data sheet of the mo tor If the absolute current applied to the motor exceeds the value of PeakCurrent a MotorPeakCur rentLimit error is issued For three phase motors co...

Страница 46: ...x J Kt amax Text Maximal velocity vmax rad s Inductance of the motor L H Maximal acceleration amax rad s2 Inertia of the rotor J kg m2 Maximal jerk rmax rad s3 Induced voltage constant Kv Vs rad Maxim...

Страница 47: ...00 bigger than the acceleration maximum DynamicReductionFactor The dynamic reduction factor fdrf is a value in the range 0 1 and can be use to reduce the path dynamics The factor scales the limits acc...

Страница 48: ...ller Encoders The encoder node contains registers to configure Encoder 0 and Encoder 1 For an axis with only a sin gle encoder only Encoder 0 has to be configured Encoder 1 is used if an axis provides...

Страница 49: ...ual loop axes the backlash has to be configured for the encoder of the inner controller loop Encoder 0 in most cases To align the backlash compensation with the axis reference the di rection of the re...

Страница 50: ...PositionErrorLimit error is issued This is an important parameter which helps to protect the machine in case of a malfunction Set this parameter as small as possible without causing faulty activation...

Страница 51: ...f the drive The commutation state will change to Valid when phasing is executed successfully This method should not be used before the commission ing of the current controller and the position control...

Страница 52: ...current It is possible that the initial position of the axis is exactly opposite to the applied current angle In this case nearly no torque is applied to the motor and phasing may fail To prevent thi...

Страница 53: ...e Motor Type SynchronousAC The maximum setting is 0 577 times the dc bus voltage DC In case of a DC motor the OutputLimit can be set equal to the DC bus voltage 5 2 9 Axis Parameters CurrentController...

Страница 54: ...ncoders Pitch In case the position signal shows no movement at all the connection of the encoder has to be verified Especially if an option module is used also check the setting of General Parameters...

Страница 55: ...ntegral wind up In some cases the dynamic of the current loop can be improved by applying voltage feed forward Fig ure 45 shows the block diagram for voltage feed forward ServoDrive SetupGuide_EP018 2...

Страница 56: ...plots are updated The Bode plot shows the amplitude and the phase of the following com plex transfer functions Hr f Kr 1 1 s Tn Ho f Hr f i u f Hc f Ho f 1 Ho f s j2 f with f frequency Hr f current c...

Страница 57: ...Following the complex curve Ho f from low frequency to high frequency the critical point 1 0j must be located in the region to the left of the curve Rule of thumb for an initial setup of the current...

Страница 58: ...49 shows the controller structure of the position controller It consists of a PIDT1 controller with proportional gain Kp integral gain Ki and derivative gain Kd The bandwidth of the derivative term c...

Страница 59: ...n controller This section describes the tuning of a single loop position controller10 With single loop setup only one position feedback is used for control If the loaded Bode measurement contains only...

Страница 60: ...troller panel The Con troller Parameter panel shows the parameters used to configure the PIDT1 controller Two equivalent controller structures can be selected in the Select Controller Structure panel...

Страница 61: ...Figure 54 The following table shows the equation of the two structures and how Additive Time Constant is transformed to Additive Gain ServoDrive SetupGuide_EP018 2022 08 25 61 83 Figure 52 Additive Ga...

Страница 62: ...ency Gr f position controller transfer function Go f open loop transfer function Gc f closed loop transfer function Hc f closed loop current controller transfer function x i f measured frequency respo...

Страница 63: ...le but as close to it as possible g Following the complex curve Ho f from low frequency to high frequency the critical point 1 0j must be located in the region on the left of the curve ServoDrive Setu...

Страница 64: ...ced 4 Measure the amplitude Agc at frequency fgc in dB in the bode plot with the crosshair An initial value for the gain Kr can now be calculated based on the measurement Kr 10 Agc 20 The magnitude of...

Страница 65: ...be described below Only for position measurement with poor resolution e g incremental encoders Lowpass1 or Lowpass2 are used to smooth the signal In this case the frequency fd is set 3 to 10 times th...

Страница 66: ...en Advanced mode is not checked in the Filter Parameters panel fd and Dd are automatically calcu lated according the equations above Consider the phase drop in the phase plot of Figure 58 below the no...

Страница 67: ...oller Tuning ServoDrive SetupGuide_EP018 2022 08 25 67 83 Figure 59 Resonance at 2000Hz which causes an instability of the controller loop Figure 60 Notch2 filter with fn dd 2000Hz Dn 0 01 and Dd 0 1...

Страница 68: ...encies the amplitude in the Bode view of Gopen should show a linear section with a drop of 40dB per frequency decade Measure the amplitude A with the cursor at a frequency f within the linear section...

Страница 69: ...increase PositionController Controllers 0 PositionErrorLimit to a value bigger than one pole pair pitch Temporarily set the gains Kr Ki Kd of the position controller to zero to disable the position c...

Страница 70: ...expected Check if the position signal shows an alignment move Axes with low friction e g with air bearings could show a slow oscillation during the phasing which could lead to an invalid commutation I...

Страница 71: ...e small signal behavior and the stability of the controller 1 Prepare the scope by loading the Scope Configuration named Position Controller Disturbance Tuning 2 Increase the value of Parameters Posit...

Страница 72: ...ller in 5 2 4 5 5 4 Acceleration and Velocity Feed forward The following setup is used to verify the acceleration feed forward see also 5 4 6 1 Prepare the scope by loading the Scope Configuration nam...

Страница 73: ...er that mechanical adjustments of the encoder or the motor or replacement of the encoder motor or the drive affect the commutation angle and may require an execution of a phasing sequence to restore t...

Страница 74: ...mmand Axes Commands Commutation Com mand StartPhasingAndZeroEncoder 3 Check if Axes Signals Commutation State is Valid If State is not Valid check the configuration es ServoDrive SetupGuide_EP018 2022...

Страница 75: ...xecuting the command Axes Commands Commutation Command StartPhasing 3 Check if Axes Signals Commutation State is Valid If not Valid check the commutation settings and restart the phasing sequence 4 To...

Страница 76: ...dditionally the zero of the absolute en coder is set equal to the zero of the commutation angle This will cause a shift of the position In case the zero of the encoder is equal to the zero of the comm...

Страница 77: ...ed during the phasing sequence Axes Signals PositionController Encoders DigitalEncoder PersistencyCommutationOffset This register displays the commutation offset stored on the encoder Axes Signals Pos...

Страница 78: ...stem With the TAM System Explorer running on the PC connected with the USB cable the user can perform all setup and analysis operations described in the former chapters in the same way as they can do...

Страница 79: ...8 Flow Charts ServoDrive SetupGuide_EP018 2022 08 25 79 83 Figure 68 Initial Setup Guide Workflow...

Страница 80: ...Flow Charts Flow Charts ServoDrive SetupGuide_EP018 2022 08 25 80 83 Figure 69 Position Controller Tuning Workflow...

Страница 81: ...lerUserGuide_EP026 pdf Triamec Motion AG 2019 7 Axis Coupling in TAM System Explorer Application Note AN131_TamSystemExplorerAxisCoupling_EP002 pdf Triamec Motion AG 2022 8 Encoder configuration for t...

Страница 82: ...ed 010 2021 08 09 bl Section 4 3 1 Added Axes i Parameters PositionController OutputLimit to required configuration 011 2021 08 16 dg Rule of thumb adjusted in section 5 4 1 and 5 4 4 012 2021 08 31 c...

Страница 83: ...ed subject to the following conditions and restrictions This document contains proprietary information belonging to Triamec Motion AG Such information is supplied solely for the purpose of assisting u...

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