User guide

56 www.controltechniques.com SM-EZMotion Module User Guide
red Reset button. This will save all drive parameters to
NVM.
The gain parameters in the Unidrive SP written to by the
SM-EZMotion module are as follows:
Velocity Loop Gains
Kp (Velocity Loop Proportional Gain) – 3.10
Ki (Velocity Loop Integral Gain) – 3.11
Current Loop Gains
Kp (Current Loop Proportional Gain) – 4.13
Ki (Current Loop Integral Gain) – 4.14
For more information on the Unidrive SP gain parameters,
please refer to the Unidrive SP Advanced User Guide.
The “Module Gains Enable” checkbox can be seen on the
Tuning view as shown in Figure 76.
Simple Tuning Procedure
1. Select the desired Drive Type and Motor Type
on the Drive/Encoder view in PowerTools Pro.
2. Verify that the values of each of the motor
parameters have been entered correctly,
paying close attention to the Motor Rotor
Inertia and the Motor Ke.
3. Enter the calculated Inertia Ratio into the text
box on the Tuning view.
4. Set the Position Loop Response to zero.
5. Enable the Velocity Feedforward parameter.
6. Configure an index that will simulate a step
signal (make sure not to configure accel/decel
values that you cause the motor to be current
limited)
7. Initiate the index while recording velocity
feedback on an oscilloscope.
8. Gradually increase the Velocity Loop
Bandwidth until the velocity plot shows less
than 20% velocity overshoot with no ringing
(instability).
9. Audible noise may be introduced by increasing
the Velocity Loop Bandwidth due to velocity
jitter. The Current Demand Filter can be used
to reduce the noise. Begin with a 1 ms value in
the Current Demand Filter and gradually
increase until the noise is reduced.
10. After adding the Current Demand Filter, you
may be able to slightly increase the Velocity
Loop Bandwidth again.
11. Gradually increase the Position Loop
Response until Following Error is minimized.
Often, a value approximately 1/4th of the
Velocity Loop Bandwidth will work well.
Increase until oscillation is introduced and
then slightly decrease.
12. Save file.
7.3.9 Errors View
The Errors View contains information about Drive Trips
and Module Errors that are currently active as well as a log
of the last ten drive trips. PowerTools Pro must be online
with the module to obtain this information. Figure 77 shows
an example of the Errors View when Online with the
module.
Figure 77: Errors View
7.3.9.1 Active Errors
The Active Errors box shows any drive trips or module
errors that are currently active. The user can reset any
drive trip or module error by clicking on the Reset button
underneath the Active Errors box. If the situation that
caused the trip or error has not been fixed, then the trip or
error will activate again immediately.
7.3.9.2 Power Up
The Power Up box contains information related to the
lifetime of the Unidrive SP and SM-EZMotion module.
Following are the parameters listed in the Power Up
information box:
7.3.9.2.1 Module Power Up Count
Module Power Up Count is a current value of how many
times the SM-EZMotion module has been powered up.
Each time power is cycled to the system, this number
increments by one. This parameter is stored in the
SM-EZMotion module, and is not reset if the module is