Start-Up
and
Adjustments
1.) Make sure the system is connected and is operating properly
by
following the initial start-up
procedure in Sec. 5.
1.
2.) Connect the
user.
terminal
to
connector
P6
on
the BRU-Series drive.
3.)
Wrth
the drive disabled, apply power.
4.) Press the <ESC> key on the terminal
to
enter the
STATUS
page and check that the status
indicates
MODE•
.
If
the ·servo drive
is
in
'TRQ
MODE' then press the < P > key
to
tum
to
the
SETUP
page. Move the cursor up to the MODE line and type '1' followed
by
<Enter>
to
change
to VELocity
MODE,
then press <P>
to
return
to
the
STATUS
page. The status should now
indicate 'VEL MODE'.
5.)
Press
<P>
to
page
to
SETUP
page.
6.) Move the cursor
to
SCALE.
Set the desired scaling on the velocity command input While in tune
mode it may
be
helpful
to
reduce the scaling
to
a small value such as 50
RPMJV
since the scaling
of the programmable monitor output (on connector
P5-3
or
test point MON) is scaled
by
this value.
This will allow full D
I A converter resolution over a 500
RPM
range.
7.) Offset
is
most easily adjusted with the position controller connected
and
will therefore
be
tuned
later (refer
to
step
22).
8.) Set the desired Peak I (Peak Current)
and
the Overspeed trip point.
9.) Turn off the Filter
BW
by
setting it to
0.
10.} (Optional} Follow steps 5 through
10
for Auto-tune procedure in Section 5.3.1
to
provide a near-
optimal tuning starting point.
11
.) Move the cursor again
to
Mode
and
select Tune mode. Connect
an
oscilloscope
to
the test point
MON
or
to
PS
pin 3.
12.) Move the cursor to Period and set the desired square wave cycle time. A Period
is
the time
required
to
complete one cycle of the square wave. The value of Period will depend on the user
and the application. Avoid setting Period
to
a high value which will allow the system
to
reach the
end
of
travel with the Step
Vel
value programmed
(see
step
13}
.
The
Period should not
need
to
be
set
to
Jess
than 0.
02
seconds.
13.) Move the cursor to Step
Vel
and
set
the desired step velocity of the internal square wave
generator. This value will generally
be
between
50
and
500
RPM.
Note that an excessive step
velocity
or
a low
Peak
I setting can cause the servo drive
to
enter current limit. This should
be
avoided while tuning the
BRU
-Series drive. You can
be
sure that the BRU-Series drive
is
not
entering current limit
by
turning to the Status Page while the BRU-Series drive is enabled and
making sure that the I Limit message does not flash during a motor speed reversal. If it does
appear, Step
Vel
must be reduced or Peak I must
be
increased.
14.) Enable the BRU-Series drive and observe the motion
of
the motor shaft. Ensure that FAC and
RAC
are not enabled if no motion occurs. Disable the drive and adjust Period and Step
Vel
if necessary.
15.} Change Monitor
to
Tach
by
moving the cursor
to
the monitor line and pressing '3'.
16
.}
Set
I
GAIN
to
a low value (no noticeable overshoot} and set D
GAIN
to
0. While observing the tach
at the monitor output with
an
oscilloscope, increase P
GAIN
until the desired rise time is obtained.
40
BRU-20
0/
BRU-
50
0
Bru
shless Drives Instructi
on
Manual
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