Drive Configuration
Verification of the Setup
6. Reduce the
Acc.
and
Vel.
values in the
Axis Module
, start the scope and execute a move of at
least one electrical turn.
7. Repeat this sequence at different positions.
8. If the phasing works as expected,
Parameters.Commutation.EnablingMethod
can be set to
Auto-
matic
.
Note
Note
If the axis goes into error state immediately after the phasing sequence or at the start of a
move, the parameter
MotorInvertDirection
might be incorrect. Also verify Parameters.
Mo-
tor.PolePairs
and Parameters.
Motor.EncoderCountsPerMotorRevolution (see also section
.
5.5.3 Position Controller
If the commutation works as expected, the controller setup can be verified in time domain. In the fol-
lowing, two different approaches are described with which a setpoint can be generated:
Test Generator
If registers in node
Commands.TestGenerator
are configured accordingly, a square wave can be added to
the position setpoint. By measuring the position or the position-error the step answer can be analyzed.
The step size (amplitude) of the test signal has to be small enough, to not exceed the output limits of
current and voltage. Therefore step answer is especially useful to analyze the 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.PositionController.Controllers[].PositionErrorLimit
temporarily to
not cause an error during the test.
3. Start the scope.
4. Enable the axis for example by using the
Axis Module
.
5. Prepare the test generator:
Frequency
: 5Hz,
Offset
: 0,
RampTime
: 0.
Amplitude
: The amplitude
should be set to a small value to not exceed the limits of current or voltage.
6. Start the test signal by setting
Commands.TestGenerator
to
StartPositionSquare
.
Axis Module
With the axis module, a move can be executed which is generated by the internal path planner with re-
striction of velocity, acceleration and jerk. Therefore this test is useful to analyze the process related
stability and behavior of the axis and the settings of the feed forward.
1. Prepare the scope by loading the
Scope Configuration
named
Position Controller Follower Tun-
ing
.
2. Prepare the
Axis Module
: Setup a reasonable move between A and B. Activate the
Loop After
check-box and set a wait time of about 500ms. Reduce the dynamic by adjusting the
Acc.
and
Vel.
values in the
Axis Module.
3. Start the scope and execute moves by pressing
Move AB
. Check the transient response of the sig-
nals. Slowly increase the dynamic settings.
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