Motion control C3F_T40
176 192-121102 N04 June 2008
5.5.1. Important notes
Requirements:
Stable control (even though slow)
Following error window set relatively wide => unless abortion due to following
error is possible.
The controller may not be active when the identification is started (State
"Standstill disable").
The measurement is in part executed in open loop operation. This means that the
function is, for example with z-axes, only possible to a limited extent. (the load
could for example be lowered due to leakages)
The entire hydraulic system should be well dampened.
Unless the measurement could be strongly influenced by resonance frequencies
present.
There must be enough travel space in order to perform the identification.
Enough memory space in the characteristics memory
Altogether 8 characteristic lines can be stored in the memory of the controller, if
these all are taken up by the identification, the identification will be terminated
with a corresponding error.
Check before the start of the identification, if there is enough memory space
available.
If there is no space available, the entire characteristics memory can be deleted by
writing a value <> 0 into object 2439.3 C3 "Plus.CurveMemory_Erase. Attention!
all characteristics present are deleted.
The loop gain of the speed control should be set at least approximately. If the
loop gain is much too small, the preset speed range might not be entirely
measured. If the loop gain is too high, the resolution of the measurement will be
too low.
Please respect the following for the measurement:
The axis to be measured may not be used for an action in the IEC.
(for example MC_Power, MC_Stop, MC_MoveRelative,...)
The software oscilloscope cannot be used during the measurement.
State after the end of the measurement:
Axis is not active (State "Standstill disable").
After MC_Power, the axis is in closed loop operation.
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