Application note Getting started with e100 AN00187-002
ABB Motion control products 12
www.abbmotion.com
This example test move is set up to do a bi-directional move at 20Rev/s for 5 Revs. Click the Go button when these parameters
have been typed in and you are ready to start the move. When the move is complete and the graph is displayed look at the Speed
Measured and the Speed Command Demand, hopefully these will show a reasonable match. Try to use acceleration, deceleration
and speed values that will be “typical” for your application.
The gain values can be calculated automatically by Selecting “Calculate...” and adjusting the Bandwidth. The higher the Bandwidth
is, the higher the gain values will be. This will make the motors response to speed changes stiffer. If the Bandwidth is too high the
motor may overshoot on reaching the target speed and may become excessively noisy/unstable.
A small amount of overshoot on the speed response is acceptable. If there is a large overshoot it can be easily reduced by
decreasing the value of Tracking Factor (KVTRACK) and trying the move again.
If the motor is particularly noisy and/or there is a lot of vibration at steady/zero speed try manually reducing the value of KVPROP.
The graph above shows a typical response to a bidirectional move. The Demand Speed (Blue) and measured speed (Green) should
closely match. Increasing KVPROP increases the damping effect on the oscillations during steady speed. Increasing KVINT
improves the sharpness of the response during acceleration and deceleration
If the motor is going in the wrong direction (i.e. for a positive speed demand it needs to go in the opposite direction) it can be set by
changing the MOTORDIRECTION parameter in the MicroFlex e100. See the section further on entitled “Viewing and changing
parameters” for more information on this.
Once the velocity loop is tuned the drive is ready to have its position loop tuned.
F
FF
Fine tuning the
ine tuning the ine tuning the
ine tuning the p
pp
position
osition osition
osition l
ll
loop
oopoop
oop
Select the Position tab within the Fine tuning work area.
The position loop gain values can be calculated automatically by Selecting “Calculate...” and adjusting the
Bandwidth. The higher the Bandwidth is the higher the gain values will be. This will make the motors
response to speed changes stiffer (note that changing the position loop gains via the Calculate button this
way will also automatically result in the speed loop gains being recalculated and vice-versa).
The Autotune will calculate values for KPROP and KVELFF (even on-load). The value of KPROP
(Proportional Gain) may also be determined experimentally. This means you need a starting point, a value
of 0.01 is appropriate as a starting point for most systems.
To test the position loop gain values you need to define a suitable test move. Provided your motor is still
unloaded it should be safe to make a move, a profile lasting about 1s is ideal. It is also best to choose
accelerations and speeds that define a trapezoidal profile shape. In the Fine-tuning screen on the Position
tab type in the following values which are suitable if scaled in Revs:
Manymanuals.com
Manymanuals.de
Manymanuals.fr
Manymanuals.it
Manymanuals.pl
Manymanuals.cz
Manymanuals.es
Manymanuals-pt.com
Comentarios a estos manuales