Drive Configuration
Verification of the Encoder
5.3 Verification of the Encoder
With this test the configured encoder pitch and the encoder direction are verified. For the test, move
the axis by hand for a certain distance e.g. for one turn and observe the position in the
TAM System Ex-
plorer
. To observe the position the following options are available.
1. Select the associated axis module in the
Topology Tree
and observe the position displayed at the
upper right corner of the axis module.
2. Observe the value of the register
Axes[].Signals.PositionController.Encoders[].Position
in the
Regis-
ters
tab of the tab panel.
3. Drag the register
Axes[].Signals.PositionController.Encoders[].Position
into the scope area and start
the scope.
Check the counting direction and if the relative distance of the displayed position corresponds to the
executed move. If there is a mismatch, adjust the following parameters and execute the test again.
Axes[].Parameters.PositionController.Encoders[].InvertDirection
Axes[].Parameters.PositionController.Encoders[].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.EncoderTopology
(see [8] for more information).
5.4 Controller Tuning
After initial configuration of the parameters, the controllers are ready to be tuned. For the tuning of the
controllers the
Bode Tuning
module provided by
TAM System Explorer
is used (see section 4.2). The fol-
lowing sections show the structure of the controller and explain how to execute the
Bode Tuning
. For
people with experience in Triamec drive configuration, Figure 69 can lead you through the tuning pro-
cedure.
Figure 43 shows a simplified block-diagram of the implemented controller structure. The controller
structure supports cascaded control with a
PI
controller for the current and two
PIDT1
controllers for
the position.
For an axis with one encoder, only
Controller[0]
is used. If a second encoder is installed, use
Controller[1]
to setup a dual loop controller. Both, the position controller and the current controller
support feed forward to set the current and the voltage based on the setpoint trajectory.
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