数控设备维护维修企业解决方案资源建设子项目7 ACS学习资源包 培训课件-SPiiPlus_Servo_Tuning_Time_Domain_(v6).ppt

Copyright 2006 Notch filter parameters: SLVNFRQ – Notch frequency SLVNWID – Notch width (3 dB points) SLVNATT – attenuation (absolute units) It is not recommended to use the Notch filter before measuring the frequency response of the system using SPiiPlus FRF Analyzer. Notch Filter(3) Copyright 2006 Before starting tuning… Open the Adjuster Define the Safety Parameters Define the drive/motor/encoderparameters in Axis Setup dialog Copyright 2006 Important Safety Parameters Critical position error: CERRI(idle) CERRV(velocity) CERRA(acceleration) RMS protection : XRMS (nominal current in %) XRMST (time constant in msec) Current limits: XCURI(idle) XCURV(velocity) Maximum velocity: XVEL has important effect on velocity scale factor! Maximum acceleration: XACC Copyright 2006 Axis Setup Define the following: Control configuration: single loop or dual loop control. Drive type and parameters: DC amplifier, DC brushless amplifier with hardware or software commutation. Motor type and parameters: type, number of poles (for rotary motor), magnetic pitch (for linear motor). Encoder type and parameters: primary/secondary encoders, type (AQB, SIN-COS etc), resolution, multiplier(internal/external). Some parameters (like amplifier/motor ratings) are not used by the controller. Copyright 2006 Current Loop Tuning Open the Current Loop Adjustment in the Adjuster. Set SLIKI to zero, or set it very low (like 100). Set SLIKP low (like 10). Apply a square wave : set the amplitude 5-10%Set the pulse length 4-10msec. Press “Run”. Raise SLIKP gradually as long as high frequency effects (noise) are not noticed and there is little or no overshoot. Changing SLIKI should not require returning to change SLIKP. Raise SLIKI starting with zero, until overshoot is excessive, usually 10% - 15%.Typical values : 1000-10,000 If later on, you notice that the current loop is noisy, then it is recommended to further reduce SLIKP. Copyright 2006 Cu