Infranor XtrapulsGem User Manual

17
X
trapulsPac - User Guide
Chapter 2 – Commissioning
Position Feedback Selection
Select the position sensor currently mounted on the motor (resolver or encoder). The position sensor mounted on
the motor is used by the drive for the motor torque or force control and for the speed regulation loop.
Select the position sensor to be used for the position regulation loop in the drive, according to the application.
Generally, the position regulation loop is using the motor position sensor (same sensor selection as in the
previous case). However, for specific applications, the position regulation loop is using a second position sensor
directly mounted on the mechanical load.
User Position Scaling
All internal position setpoints and displays are given by using the “user unit“ definition. All internal speed setpoints
and displays are given by using the “user unit / s“ definition. So, it is necessary to define inside the drive the
relationship between sensor data and “user unit” value.
Select the position unit according to the application.
Select the display factor according to the desired decimal number in the position set point and display.
Enter the load displacement value (in the previously defined position units) corresponding to one revolution for a
rotating motor or one pole pitch for a linear motor. This parameter depends on the mechanical ratio between
motor and load.
2.4.4 - SERVO LOOPS ADJUSTMENT
The Xtrapuls drive speed and position loop gain values can be automatically calculated by using the Auto-tuning
procedure. This procedure identifies the motor and mechanical load specifications and calculates the appropriate
gain values.
The Auto-tuning procedure can be executed with the drive disabled or enabled (for a vertical load). When the
drive is enabled, the Auto-tuning can only be executed if the motor is at standstill.
Auto-tuning of the drive regulator
Select the Controller type according to the application:
- In Velocity mode, only the speed loop gains are calculated.
- In Position mode, all gains of both speed and position regulators are calculated.
Select the Position loop requirements if the position mode was selected before:
- The choice Minimum following error allows getting an accurate following of the position reference value during
the whole motor displacement. In this case, all feedforward gain values are calculated.
- The choice Minimum position overshoot allows getting a motor positioning without any overshoot of the target
position. In this case, all feedforward gain values are set at 0, and the motor position is lagging with regard to the
position reference value during the whole motor displacement.
Select the Speed measurement filter time constant according to the motor position sensor resolution and the
acceptable noise level in the speed measurement. The higher the time constant value, the lower the speed
measurement noise, but also the lower the speed loop gains because of the increased speed measurement
delay.
When Auto-select is selected, the most appropriate value is chosen during the Auto-tuning procedure execution.
Select the servo loop Filter type according to the application:
- The choice of the Anti-resonance filter is necessary in case of loud noise in the motor, due to motor/load
coupling elasticity.
- The choice of the Maximum stiffness filter allows getting the maximum stiffness on the motor shaft with regard
to the torque disturbances. However, this choice is only possible without any resonance due to the motor/load
coupling elasticity.

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English