SMT-BD2
3.4
-
A
MPLIFIER PARAMETER SETTING
Select
Software control
mode and switch on the
Off
position.
Select the motor to be used in the
Motor list
and check the
Motor encoder resolution
value, the
Speed limit
and the
Current limits
according to the motor and amplifier specifications.
Select
Fusing
mode for the I
2
t protection during all commissioning phases.
!
If the “incremental encoder" configuration without HES is selected, check that the free motor
movement over 1 revolution, or 1 pole pitch for linear motors, is not dangerous for the operator. Then
execute the motor phasing procedure (
see section 3.7 of this chapter
).
If the motor used is not on the
Motor list
, proceed as described below :
♦
Enter the servo motor
Encoder resolution
value.
♦
Adjust
the
Speed limit
according to the motor and encoder specifications.
♦
Adjust
the
Current limits
according to the motor and amplifier specifications.
♦
Uncouple the motor from the mechanical load and check that the free motor movement over 1 revolution, or
1 pole pitch for linear motors, is not dangerous for the operator. Then execute the
Auto-phasing
procedure.
♦
Calculate
the
Current phase lead
value (this parameter is especially useful for motors with a low inductance
and running at high speeds).
Select the
Encoder output
resolution.
Couple the motor to the load ; in the case of an axis with an unbalanced load (constant torque due to
the gravity effect on a vertical axis),
see paragraph 3.5
of this chapter. Check that the free motor
movement over 1 revolution, or 1 pole pitch for linear motors, is not dangerous for the operator and
the machine. Select the most apropriate filter and bandwidth; then execute the
Auto-tuning
procedure.
!
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, renew the
Auto-tuning
procedure by selecting a lower bandwidth (
Bandwidth
=
Medium
or
Low
). If the problem remains, renew the
Auto-tuning
procedure by activating the
Antiresonance
filter.
The
Auto-tuning
procedure should be executed in
Software control
mode and
Off
position
selected. If the
Auto-tuning
procedure must be executed with the drive controlled by the analog input
command CV, the value of the analog input command MUST be set at 0 Volt. It is the user's
responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis
movements during the
Auto-tuning
procedure.
!
Test the motor running in both directions with a low digital speed reference value. If required, adjust with more
accuracy the speed loop response stability by means of the
Stability gain
buttons or by means of the adjustable
gain values.
Short-circuit the "
CV
" input of the X4 connector or enter a zero speed input command in the NC, if you want to
compensate the offset of the whole amp NC system. Then execute the
Offset compensation
procedure or
activate the
Offset
button on the amplifier front panel.
3.5
-
A
MPLIFIER AUTO
-
TUNING WITH AN UNBALANCED LOAD
In the case of an axis with an unbalanced load (constant torque due to the gravity effect on a vertical
axis), the “incremental encoder ” configuration without HES is not valid because the motor phasing
procedure at power up cannot be executed.
!
Select
Software control
mode and switch on the
OFF
position.
Execute a first
Auto-tuning
procedure with the motor uncoupled from its mechanical load in order to initialize the
gain values before coupling the motor to the load again.
Select the current limitation in
Limiting
mode and select a
PI
or
PI
2
speed regulator. Check that the limit switches
and the motor brake are correctly operating before starting the
Auto-tuning
procedure.
40
Chapter 6 – Commissioning
