July 2013 6.14 Commissioning 1061
Adjusting the servo
amplifier
Procedure:
Disconnect the nominal-value connection between the servo amplifier and
CMA-H.
Short-circuit the nominal value input on the servo amplifier.
The input must have a 0 V voltage.
Activate control enabling at the servo amplifier.
Connect the power supply to the servo amplifier.
Perform a coarse offset adjustment:
• If the axis moves in spite of the short-circuited nominal value input, you
must adjust the offset potentiometer until the axis stops moving.
Remove the jumper at the nominal value input and establish a nominal-value
connection to the CMA-H.
Perform a coarse velocity adjustment:
• Set MP1010.x (rapid traverse) and MP1050.x (analog voltage at rapid
traverse).
• With the internal oscilloscope functions, output the nominal value step at
the height for rapid traverse.
• Record UANALOG and check the voltage.
• Use a tachometer to measure the rotational speed of the motor and a
tacho potentiometer at the servo amplifier to adjust the nominal speed for
rapid traverse.
• Connect an oscilloscope to the tachometer of the motor.
• Measure the step response on the tachometer during the step output.
Adjust the proportional (P) component and the integral-action (I) component
of the speed controller at the servo amplifier.
For analog axes, you must adjust the servo amplifier before you optimize
the position controller.
Optimum Gain too large Gain too small
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