4. TRIM, TUNE. Set suitable start values for the position gain. Kp, using system parameters:
- A7-A12 = approx. 5 (s-1)
5. TRIM, MOVE. Define a position controlled back and forth movement:
- TYPEOFMOVE = 4
- VELOCITY = 100%
- DISTANCE =approx. 10 revolutions of the resolver, the distance should be
selected to ensure that max. speed is reached before declaration starts.
- WATTING TIME = 2 s, the time chosen should be sufficient to allow the axis to
stop before turning.
6. TRIM, START. Start the defined movement by pressing the START button.
7. TRIM, TUNE. Adjust the gain in the following manner:
- Increase the gain EL, using system parameters steps of 0.5 until the quickest
deceleration is obtained without overshoot.
Speed
Time
Torque reference
XT
Time
Fig. Ideal step response, position control
INSTALLATION
S3
6:17
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