7. TRIM, TUNE. Satisfactory trimming is obtained by repeating steps 4, 5 and 6.
Adjust the system parameters in the following manner:
- Increase the gain (P) until overshoot is just reached.
- Adjust the integration (I). Gradually decrease until the overshoot is approx.
5-10%. No more than 1-2 oscillations should be accepted.
Speed
Ti me
Torque reference (current)
\f
Ti me
Fig. Ideal step control response, speed control
6.5.3
Position control
1. If the axis has variable moment of inertia, the gain should be trimmed with
maximum moment of inertia.
2. Connect one channel of the printer (chart recorder) to test output on the robot
computer (test output 2 with common zero point ground. Voltage level ±10 V.)
Connect the other channel of the printer to the tachometer signal of the axis being
dealt with.
3. TSIG. Activate test signals via the P-unit using function TSIG (see section 6.5.4.1).
- CHANNEL 1 = TEST SIGNAL 16 (torque reference)
INSTALLATION
S3
6:16
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