Magnavox W-10CR Installationsanleitung PDF herunterladen (Seite 263)

Servo Drive 247

Step 1: Measure

Servo axis

selects the servo axis.

Output – volts

selects the stimulus voltage for meas-

uring system gain. The default is 2 volts.

Speed – units/sec

selects the target speed for meas-

uring system gain. The default is 10 units/sec.

Distance Limit – units

limits the bump travel dis-

tance allowed when measuring system gain. The de-

fault is 5 units.

Measure system gain

commands a system gain

measurement when clicked. The

System Gain

will

be updated when the cycle is completed.

Step 2: Calculation

System Gain

displays the result of a measure system

gain cycle or a manually entered value.

System Bandwidth

selects the system bandwidth for

the Gain Calculation. The default is 30 hertz.

Calculate servo gains

commands a gain calculation

cycle. The

and

Kaff

values will be up-

dated at the completion of the cycle.

Step 3: Update

displays the current value of the proportional

gain. This can be manually changed if desired.

displays the current value of the integral gain.

This can be manually changed if desired.

displays the current value of the derivative gain.

This can be manually changed if desired.

Kaff

displays the current value of the acceleration

feed forward gain. This can be manually changed if

desired.

Kvff

displays the current value of the velocity feed

forward gain. This is used to reduce the positional er-

ror during acceleration. This can be manually

changed if desired.

IntLim

displays the current value of the integral

limit. This can be manually changed if desired.

Sample Time

selects the servo sample time of the

servo axis.

Update controller gains

transfers the current values

of Kp, Ki, Kd, Kaff, Kvff, IntLim and Sample time to

the controller. The servo drive is now enabled.

Step 4: Response

Accel

selects the acceleration rate for a move re-

sponse. Default is 100 units/sec

Decel

selects the deceleration rate for a move re-

sponse. Default is 100 units/sec

Speed

selects the target speed for a move response.

Default is 10 units/sec.

Move

select the incremental distance traveled during

a move response. Default is 10 units.

Profile

selects the motion profile for a move re-

sponse. Default is trapezoidal.

Disable integrator during Motion

enables or dis-

ables the integrator during motion. When checked the

integrator is disabled during motion.

Display time

selects the logging period for a move

response cycle. Up to 10 seconds can be logged.

Execute move

commands a move response. The log-

ging results are transferred when the cycle is com-

pleted. The individual logged items can be selected

by clicking on the arrow in the Display Drop List.

Display

Display Drop list

selects the logged item to be dis-

played.

View Port

displays the results of a move response

cycle.

Torque Control

Volts

select the stimulus torque voltage that will be

applied to the servo drive when the

Apply voltage

button is clicked.

Apply voltage

transfers the selected stimulus voltage

selected by the

volts

spin controller as the torque

command for the servo drive.

9.1.1.5 - Auto Tuning

Before a servo can run properly, the servo gains Kp, Ki,

Kd, and Kvff must be set up to yield the appropriate move

response. The controller has the ability to automatically

set the servo gains using an automatic tuning procedure.

Auto-tuning can be broken into four separate steps meas-

ure gain (step 1), calculate gains (step 2), update gains

(step 3) and move Response (step 4).

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