Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Bedienungsanleitung PDF herunterladen (Seite 73)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide

MAN-BELGS (Ver. 1.1)

0.1 0.12 0.14 0.16 0.18 0.2

-1.5

-0.8

-0.1

0.6

1.3

x 10

Counts/sec.

Time (sec.)

KI=150,KP=50

KI=120,KP=40

Reference

0.1 0.12 0.14 0.16 0.18 0.2

-1

-0.4

0.2

0.8

1.4

Ampere

Time (sec.)

KI=150,KP=50

KI=120,KP=40

Figure 65: Tests for finding the maximum KP for KI/KP=3. KP=40 is acceptable, while

KP=50 is too large

0.1 0.12 0.14 0.16 0.18 0.2

-1.5

-0.7

0.1

0.9

1.7

2.5

x 10

Counts/sec.

Time (sec.)

KI=10000

KI=7000

KI=5000

KI=3000

Reference

0.1 0.12 0.14 0.16 0.18 0.2

-0.5

0.5

1.5

Ampere

Time (sec.)

KI=10000

KI=7000

KI=5000

KI=3000

Figure 66: Test results for searching for the maximum KI. The candidate for KI is KI=5000,

where the overshoot is about 20%

1 2 ... 68 69 70 71 72 73 74 75 76 77 78 ... 93 94

SimplIQ for Steppers 1
Revision History: 2
Contents 3
Chapter 1: Introduction 5
Support Software 6
Audience and Objective 6
Prerequisite 6
Danger and Warning Symbols 6
1.1 Qualified Personnel 7
Chapter 2: Elements 8
MAN-BELGS (Ver. 1.1) 10
2.2.1 Flash, RAM and Tables 13
2.3 Firmware 15
2.4 The Conductor Wizard 17
2.4.2 The Expert List 18
3.1 Introduction 21
3.2.1 Brakes 22
3.2.2 Application Limits 23
3.2.2.1 Speed Limits 24
3.2.2.2 Position Limits 24
3.3 Set up the Sensors 25
3.3.1 Setting up Sensor #1 26
Figure 27: Sensor #2 setup 27
The following window opens: 29
3.5 Commutation 30
3.6 Motion Tuning 32
Figure 34: Motion tab 33
Motor calculator tool 34
3.6.3.2 Identification 38
3.6.3.3 Design 40
The design 40
Figure 43: Complete design 42
3.6.3.4 Verification 43
)(T θ where θ is the 45
)(T θ 45
3.8 Database Maintenance 51
3.6.3 52
1. A PI speed controller 60
A.3 Make it Simple 61
A.4 Keep Margins 62
A.5 The Basic Concepts 62
Time, and Overshoot 64
A.6 The Example System 65
A.7.1 Current Limits 66
The steps are: 67
KI=20000,KP=30 71
KI=16000,KP=30 71
Reference 71
Speed 74
Position Controller 78
Linear Control 82
() () () 83
B.3 Motor Systems Models 85
Motor Load 86
B.4 Feedback Control 90
Bandwidth and Stability 91
)/()( bsas ++ 92
() ()()()()()()() 93
&&&& 94

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