30
•
Start the
Modify
function of the module
ENCODER RESOLUTION
and select the encoder signal
specifications on the channels A, B and Z of the connector X2 according to the position resolution of
the NC.
•
The
Programmation
function will save the encoder output of the amplifier.
•
Couple the motor to its load and connect the amplifier with the NC. If possible, make an open loop
control by means of the NC, otherwise close the position loop with a stable gain.
•
Move the shaft by means of the NC until it maintain position where one motor revolution is not
dangerous for operator and machine (far enough from the mechanical stops).
•
Start the
Autotuning
function of the
CONTROLLER
module with the motor at standstill. If the shaft
is moving, then the
Autotuning
function has not been accepted by the amplifier.
In case of loud noise in the motor at standstill and when running, check the rigidity of the transmission
between motor and load (backlashes and elasticities in gears and couplings).
If necessary, redue the
AUTO-TUNING
procedure by selecting a lower bandwidth (
Bandwidth
=
Medium
or Low
). If the problem remains, redue the
AUTO-TUNING
procedure by activating the
antiresonance filter (
Filter = Antiresonance
). The antiresonance filter is accessible from the
BPCW
version 2.6 and amplifier EPROM version
5.7
.
•
Adjust the position loop gains in the NC in order to get the necessary response.
•
If necessary, accurately adjust the response stability of the speed loop by means of the
Stability gain
buttons of the
CONTROLLER
module.
