Infranor XtrapulsGem User Manual

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X
trapulsPac - User Guide
Chapter 2 – Commissioning
The Current command filter is a 3rd order, low-pass type filter, with 3 adjustable cut-off frequencies. Each cut-
off frequency value can be freely adjusted according to the application for the filtering of high frequency noise or
the filtering of mechanical resonances.
The Speed measurement filter is a 1st order, low-pass type filter, with 3 selectable time constant values. 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. The Speed measurement filter time constant is selected
according to the motor position sensor resolution and the acceptable noise level in the speed measurement.
Position loop gains mainly influence the servo motor behaviour during the displacements (following error,
position overshoot, audible noise, ...).
- Proportional position gain (KPp): defines the proportional gain of the controller which acts on the position
error. The higher this parameter value, the better the axis stiffness and the lower the following error.
- Feedforward speed 1 gain (KFp): defines the feedforward speed amplitude corresponding to the speed input
command. This term allows reducing the following error during the motor displacement. Its value is set at
maximum (65536) after the autotuning procedure, if a following error as small as possible is required.
- Feedforward speed 2 gain (KBv): defines the feedforward speed amplitude corresponding to the viscous
frictions. This term allows reducing the viscous friction effect during the motor displacement. The gain value is
equal to the damping gain value + the viscous friction compensation term. After the auto-tuning procedure, the
feedforward speed 2 gain is set equal to the damping gain value, if a following error as small as possible is
required. The viscous friction compensation term can be calculated by measuring the current/speed ratio at
various motor speed values.
- Feedforward acceleration gain (KAv): defines the feedforward acceleration amplitude corresponding to the
acceleration input command. This term allows reducing the following error during the motor acceleration and
deceleration phases. Its value is calculated by the amplifier during the auto-tuning procedure if a following error as
small as possible is required.
When the auto-tuning procedure is executed, the motor + mechanical load specifications are identified and the
appropriate gain values are calculated according to the requirements selected by the user (controller type, filter
type, bandwidth value, ...). All gain values can then be manually modified by the user, if required.
Following error
Speed error threshold defines the speed following error triggering threshold. It is important to correctly adjust
this value in order to get a good protection of the drive and the application.
The Speed error threshold parameter can be adjusted like follows:
- Get the motor running with the required operation cycles and measure the maximum value of the speed error in
the digital oscilloscope (Max. speed error value);
- Then set the Speed error threshold parameter = 1.3 to 1.5 x Max. speed error value.
Position error threshold defines the triggering threshold of the position following error. It is important to correctly
adjust this value in order to get a good protection of the drive and the application.
The Position error threshold parameter can be adjusted like follows:
- Make the motor running with the required operation cycles and measure the maximum value of the following
error in the digital oscilloscope (max. following error value);
- Then set the Position error threshold parameter = 1.3 to 1.5 x Max. following error value.

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English