Infranor XtrapulsCD1-a Series User Manual

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XtrapulsCD1-a
Chapter 6 - Commissioning
3.5 - SPEED LOOP ADJUSTMENT WITH VERTICAL LOAD
Start the Auto-tuning procedure with the motor uncoupled from its mechanical load in order to initialize the
speed loop gains. Select the limiting mode of the I
2
t function (see chapter 8, section 3.2). Then select the speed
regulator (PI or PI
2
). Couple the motor to the load again and move the shaft by means of the digital speed input
command until its stall position where the shaft rotation over one revolution is not dangerous for operator
and machine.
Then execute the Auto-tuning command with the motor enabled at its stall position (zero speed input
command). 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, start the Auto-tuning
procedure while selecting a lower bandwidth. If the problem remains, renew the Auto-tuning while activating the
antiresonance filter.
3.6 - DRIVE PARAMETERS SAVING
Save all parameters in the drive EEPROM by means of the function Save parameters to EEPROM.
3.7 - MOTOR PHASING AT POWER UP
In the Incremental encoder configuration without HES, the motor Phasing procedure must be executed
according to the following diagram at each drive power up:
The analog output on the X3 connector can be configured in the Setup menu of the VISUAL DRIVE SETUP
software in order to get the Phasing OK output signal (output voltage from 0 V to 10 V when the motor phasing is
OK).
Remark: In the Incremental encoder configuration without HES, the motor Phasing procedure must be carried
out again after a Feedback fault release or a Counting fault release. The motor Phasing procedure must also be
carried out again after the modification of the motor or the encoder parameter value.
AOK
Power On
ENABLE
CV0
PHASING OK
Power up
Ready
Phasing
Stopped
running
Start phasing
Start running
End power up
End phasing
In the case of an axis with unbalanced load (constant torque due to the gravity effect on a vertical
axis), the incremental encoder configuration without HES is not valid because the motor phasing
procedure at power up cannot be executed.
!
In the case of an axis with unbalanced load (constant torque due to the gravity effect on a
vertical axis), the motor phasing procedure is not valid. The motor must be equipped with an
incremental encoder + HES or an absolute Sin/Cos encoder.
!

Infranor XtrapulsCD1-a Series Specifications

General

Brand	Infranor
Model	XtrapulsCD1-a Series
Category	DC Drives
Language	English