5-4
Initial Set-up
07-01-08-02-E-V0500 631 Digital Servo Drive
Step
Action
Remark
Tuning the Position Loop
5
Switch the power OFF and de-couple
Switch the power OFF and de-couple
Switch the power OFF and de-couple
Switch the power OFF and de-couple
The first setup of the positioning loop should be executed with no load. (When the tuning is finished, the
mechanics can be re-connected).
Move the application to a safe position within the
mechanical limits.
Switch the power ON
Switch the power ON
Switch the power ON
Switch the power ON
Make sure you know how to stop the motor if necessary
Make sure you know how to stop the motor if necessary
Make sure you know how to stop the motor if necessary
Make sure you know how to stop the motor if necessary
before performing the following:
before performing the following:
before performing the following:
before performing the following:
Position 1
Position 2
mechanical limits
M
Go to the menu TUNING/POSITION LOOP TUNING.
Adjust the test generator initially to safe “Velocity”, “Acceleration”, and “Deceleration” values.
Select slow speed and slow acceleration/deceleration first to increase later.
Select safe values for “Position1” and “Position 2”.
Every activation of "START Motor" produces a motion from Position 1 to Position 2, and vice versa with the
next activation. Select “START Motor”.
Observe the behaviour of the application and graph and optimise the tuning parameters (P, I and V gain).
Is the result ok?
YES
YES
YES
YES
Basic power-up is now complete
Basic power-up is now complete
Basic power-up is now complete
Basic power-up is now complete
Further functions (selecting the Operating Mode,
Configuring of I/Os, CAN-Bus functions, synchronising
etc.) may now be completed.
NO
NO
NO
NO
Go back to Step 4
Save your Set-up
Save your Set-up
Save your Set-up
Save your Set-up
Select the menu FILE / STORE PARAMETERS and store the data using the F7 key.
Tuning the Speed Loop
U1
Go to the menu TUNING/SPEED LOOP TUNING.
Stable parameters are calculated based on the system data and
can be called-up using the F5 key. Manual tuning may be
necessary.
Rated values can be sourced either digitally by the internal
generator or analog by using ±10V at X10.1 and X10.2.
The addition of both sources will be active.
Note:
Tuning too hard will cause current ripple, high power-
dissipation and acoustic motor noise.
t
I
P Gain too high, or I-time constant
Motor current, noisy
too small
Too weak adjustment causes slow loop reactions, that may cause
problems for the tuning of position loops.
n
t
Speed
P Gain too small or I-time constant
too high
Is the result ok?
YES
YES
YES
YES
Go back to Step 4
NO
NO
NO
NO
C
ontinue with U2
