(
r
(
17.)
18.)
19.)
20.)
21.)
22.)
23.)
24.)
Start-Up
and
Adjustments
Increase I GAIN until the acceptable limit for the amount of overshoot
is
reached. The Tach and I
Torq signals should look similarto those shown
in
Figure
5-12.
If more stiffness is required, increase I GAIN beyond the desired overshoot. Then increase D GAIN
to
reduce the overshoot back down to the acceptable limit.
After the P
GAIN and I
GAIN
are adjusted, if there
is
a ringing on the tachometer due
to
torsional
resonance between the motor and load, then increaseD
GAIN
until oscillation is acceptable.
Reduce
Filter BW until the overshoot begins
to
increase.
To adjust offset, disable the drive and connect the position controller.
Set the mode to Velocity mode and enable the system. The position controller should
be holding
the shaft position
still.
Read
the velocity command input voltage
(VCS)
at
P1
pins 3
to
4
or
the VEL
CMD
test point using a digital voltmeter.
NOTE:
The velocity offset can also
be
adjusted
by
potentiometer
R106B
(BRU-500) or
R107
(BRU-200).
Refer to drawings 9101-0139 or 9101-1061 .
Enter the voltage
read
for Offset.
The
velocity command voltage should drop
to
0 volts.
Press 'S'
to
save the offset into the personality module.
BRU-200/BRU-500 Brushless Drives Instruction Manual
41
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