User`s manual

4-24 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
4
Tuning Data
The DSM314 Tuning tabs are used to configure Servo axis tuning data. Parameters such as Motor
Type, Velocity at Max Cmd, Velocity Feed Forward Percentage, and Position Loop Time Constant
are configured in these tabs. From one to four Tuning tabs may appear in the DSM314
configuration window, one tab for each Servo axis configured in the Settings tab.
The numbers in the “Ref” column of the table below refer to item numbers in this chapter.
Table 4-10.
Tuning Tab Items
Configuration
Parameter
Description Values
VersaPro
Defaults Units
Ref
Motor Type Motor Type 0…65535 0 N/A 6.01
Analog Servo
Command
Analog Servo Command
Type
Velocity
Torque
(Note 1)
Velocity N/A 6.02
Position Error Limit Position Error Limit 100...60,000 60,000 User Units 6.03
In Position Zone In Position Zone 1…60,000 10 User Units 6.04
Pos Loop Time
Constant
Position Loop Time
Constant
0…65535 1000 0.1 mSec 6.05
Velocity at MaxCmd Velocity at Maximum
Command
256.. MaxVelUu
(Note 2)
100,000 User Units 6.06
Velocity Feed
Forward Percentage
Velocity Feed Forward
Percentage
0…12000 0 .01% 6.07
Acceleration Feed
Forward Percentage
Acceleration Feed Forward
Percentage
0…12000 0 .01% 6.08
Integrator Mode Position Loop Integrator
Mode
Off
Continuous
Servo Null
Off N/A 6.09
Integrator Time
Constant
Position Loop Integrator
Time Constant
0…10000 0 mSec 6.10
Velocity Loop Gain Velocity Loop Gain 0…65535 16 N/A 6.11
Note 1: Denotes a parameter reserved for possible future use.
Note 2: See Table 4-8 for calculating MaxVelUu.
6.01 Motor Type
. Selects the type of FANUC AC servomotor to be used with the DSM314 in Digital
Mode ONLY. The DSM314 internally stores setup motor parameter tables for each of the FANUC
motors supported. A motor type of
0
disables digital servo control by the DSM314 for the digital
servo axis.
Motor type must be set to 0 when no digital servo is attached if any %Q bit
commands or %AQ data commands will be sent to the axis.
Supported FANUC Motor types
are listed in the tables below.
The Motor Type must be 0 for ANALOG Mode or if no motor is attached to the axis. Default: 0.
FANUC Motor part numbers are used to determine the proper FANUC Motor type code and are in
the form A06B-xxxx-yyyy, where xxxx represents the motor specification field. For example:
When reading a motor number from a motor label of A06B-0032-B078, the motor specification
digits 0032 indicate the motor model of
β
2/3000. The
β
Series table references the
Motor Type
Code
(36) needed for the configuration field. Supported FANUC Motor types are listed in the
tables below. The list of supported motors may be expanded in future releases.