Internal drive unit
If axis 7 is selected with control from an internal drive unit, the digital speed
control is activated in addition to the a.c. control. This must be trimmed in
relation to the mechanical unit using the TRIM function. See further chapter 6. If
the values obtained are suitable and are to become permanent in the system, the
value can be read in here as system parameters.
A short description of the PID controller system parameters follows.
Parameter VII, Internal drive unit, axis 7
Proportional gain (P-part).
Menu
Resulting question after definition of axis 7 with control from internal drive unit.
Guide text
P GAIN (TIMES) =
Def. range
0.0 -127.0 times
Default value
17 times for IRB 2000 Track Motion
16 times for IRB 3000 Track Motion
17 times for IRB 6000 Track Motion
Note
Values practically usable, approx. 5 for low inertia to 25 for high inertia mechanical
units.
Parameter VIII, Internal drive unit, axis 7
Integration time (I-part).
Menu
Resulting question according to the above.
Guide text
I TIME (S) =
Def. range
0.000 - 2.500 sec
Default value
0.25 sec for IRB 2000
0.5 sec for IRB 3000
X sec for IRB 6000
Note
Values practically usable, approx. 0.2 - 0.4 sees. The shorter time, the faster the
integration.
Parameter IX, Internal drive unit, axis 7
Number of poles
Menu
Resulting question according to the above.
Guide text
Motor poles =
INSTALLATION S3
5:31
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