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• Select the function AUTOPHASING PROCEDURE in the menu ADVANCED FUNCTIONS for
defining the Pole pairs, Phase order and Resolver offset parameters.
• Select the CURRENT PHASE LEAD CALCULATION function of the ADVANCED
FUNCTIONS menu for the calculation of the Current phase lead parameter according to the specific
motor parameters (this function is especially useful for motors with a low inductance and running at
high speeds).
6.3.5 Speed loop adjustment with a vertical load
In the case of an axis with an unbalanced load (constant torque due to a vertical load), proceed as follows:
1st method: control by the PC:
• Select the Limiting current mode in the CURRENT module.
• Select the speed regulator type PI or PI
2
in the CONTROLLER module.
• Select the Software control function of the SETUP menu in the BPCW software version 2.x and
switch on STOP position in the RUN module.
• Start the AUTOTUNING function of the CONTROLLER module with the motor uncoupled in
order to initialize the speed loop gains.
In case of loud noise in the motor at standstill and when running, check the rigidity of the transmission
between motor and load (backlashes and elasticities in gears and couplings).
If necessary, redue the AUTO-TUNING procedure by selecting a lower bandwidth (Bandwidth =
Medium or Low). If the problem remains, redue the AUTO-TUNING procedure by activating the
antiresonance filter (Filter = Antiresonance). The antiresonance filter is accessible from the BPCW
version 2.6 and amplifier EPROM version 5.7.
• Couple the motor to the load and move the shaft in MANUAL control and a low digital speed input
command in the Reference block until it maintain position. Check that the free rotation (one
revolution or more) is not dangerous for the operator and the machine. Use the MANUAL function
and select a low digital speed input command in the Reference box for moving the shaft.
• Start the AUTOTUNING function in the CONTROLLER module with the motor enabled at its
maintaining position ( zero input speed command).
• Check the response at a low speed level without IDC saturation as in the traditional case without
vertical load.
• Go back to the shaft standstill position before switching to STOP or AUTOMATIC mode.
2nd method: control by the NC:
This method is only possible with BPCW software version 2.0 or later and Firmware memory version 2.4
or later of the SMT-BD1 amplifier.
• Select the Limiting current mode in the CURRENT module.
• Select the speed regulator type PI or PI
2
in the CONTROLLER module.
• Start the AUTOTUNING function of the CONTROLLER module with the motor uncoupled in
order to initialize the speed loop gains.
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