Installation guide

Servo Drive 253
Apply voltage
Measure
system gain
!! Motor may turn !!
Execute move
using updated
controller gains
SHUTDOWN
Update controller
with calculated
servo gains
2
80.0 %Kvff
100.0 voltsIntLim
1.024 ms
Sample
time
Step 3: Update
0.0 volts
30 hertz
Calculate servo gains
based on measured
system gain
0.0 revs/sec /v
2
System Gain
System Bandwidth
Step 2: Calculation
X
1.536 secs
Display
time
Disable integrator during motion
TrapezoidalProfile
22.0105 mv/cntKp
4.0 msKi
9.0234 msKd
0.0 v/cnt/msKaff
100.0Accel
100.0Decel
10.0 units/secSpeed
10.0 unitsMove
units/sec
2
units/sec
2
Step 1: Measure Step 4: Response
0.0 ms 1536.00 ms 1536 ms
Freeze scale
Print
Graph setup
Save graph
Zoom
-.0485
.0485
0.0
Left cursor
0.000 ms
Right cursor
1536.000 ms
View Logged Data
_ X
5.0
Distance Limit - units
10.0
Speed - units/sec
2.0
Output - volts
1Servo axis
Response with low Ki and
integrator disabled during motion
Note excessive ringingout at the end of the
move only. The integrator is engaged when
the profile stops
Axis 1 Position error (units)
Quit
Apply voltage
Measure
system gain
!! Motor may turn !!
Execute m ove
using updated
controller gains
SHUTDOWN
Update controller
with calculated
servo gains
2
80.0 %Kvff
100.0 voltsIntLim
1.024 ms
Sample
time
Step 3: Update
0.0 volts
30 hertz
Calculate servo gains
based on measured
system gain
0.0 revs/sec /v
2
System Gain
System Bandwidth
Step 2: Calculation
1.536 secs
Display
time
Disable integrator during motion
TrapezoidalProfile
70.0 mv/cntKp
18.0 msKi
9.0234 msKd
0.0 v/cnt/msKaff
100.0Accel
100.0Decel
10.0 units/secSpeed
10.0 unitsMove
units/sec
2
units/sec
2
Step 1: Measure Step 4: Response
0.0 ms 1536.00 ms 1536 ms
Freeze scale
Print
Graph setup
Save graph
Zoom
-.054
.054
0.0
Left cursor
0.000 ms
Right cursor
1536.000 ms
View Logged Data
_ X
5.0
Distance Limit - units
10.0
Speed - units/sec
2.0
Output - volts
1Servo axis
Response with high Kp
Note instability can be seen as vibration.
Kp should be lowered to eliminate instability.
Axis 1 Position error (units)
Quit
Apply voltage
Measure
system gain
!! M otor may turn !!
Execute move
using updated
controller gains
SHUTDOWN
Update controller
with calculated
servo gains
2
80.0 %Kvff
100.0 voltsIntLim
1.024 ms
Sample
time
Step 3: Update
0.0 volts
30 hertz
Calculate servo gains
based on measured
system gain
0.0 revs/sec /v
2
System Gain
System Bandwidth
Step 2: Calculation
1.536 secs
Display
time
Disable integrator during motion
TrapezoidalProfile
6.0 mv/cntKp
18.0 msKi
9.0234 msKd
0.0 v/cnt/m sKaff
100.0Accel
100.0Decel
10.0 units/secSpeed
10.0 unitsMove
units/sec
2
units/sec
2
Step 1: Measure Step 4: Response
0.0 ms 1536.00 ms 1536 ms
Freeze scale
Print
Graph setup
Save graph
Zoom
-.11325
.11325
0.0
Left cursor
0.000 ms
Right cursor
1536.000 ms
View Logged Data
_ X
5.0
Distance Limit - units
10.0
Speed - units/sec
2.0
Output - volts
1Servo axis
Response with low Kp. Note oscillation.
If Kp can not be raised, Kd may be raised
to reduce the ringing as shown below.
Axis 1 Position error (units)
Quit
Apply voltage
Measure
system gain
!! Motor m ay turn !!
Execute move
using updated
controller gains
SHUTDOWN
Update controller
with calculated
servo gains
2
80.0 %Kvff
100.0 voltsIntLim
1.024 ms
Sample
time
Step 3: Update
0.0 volts
30 hertz
Calculate servo gains
based on measured
system gain
0.0 revs/sec /v
2
System Gain
System Bandwidth
Step 2: Calculation
1.536 secs
Display
time
Disable integrator during motion
TrapezoidalProfile
6.0 mv/cntKp
18.0 msKi
30.0 msKd
0.0 v/cnt/msKaff
100.0Accel
100.0Decel
10.0 units/secSpeed
10.0 unitsMove
units/sec
2
units/sec
2
Step 1: Measure Step 4: Response
0.0 ms 1536.00 ms 1536 ms
Freeze scale
Print
Graph setup
Save graph
Zoom
-.131
.131
0.0
Left cursor
0.000 ms
Right cursor
1536.000 ms
View Logged Data
_ X
5.0
Distance Lim it - units
10.0
Speed - units/sec
2.0
Output - volts
1Servo axis
Previous profile with Kd raised
to dampen out oscillation.
Axis 1 Position error (units)
Quit
Apply voltage
Measure
system gain
!! Motor may turn !!
Execute move
using updated
controller gains
SHUTDOWN
Upd ate contro ller
with calculated
servo gains
2
0.0 %Kvff
100.0 voltsIntLim
1.024 ms
Sample
time
Step 3: Update
0.0 volts
30 hertz
Calculate servo gains
based on measured
system gain
0.0 revs/sec /v
2
System Gain
System Bandwidth
Step 2: Calculation
1.536 secs
Display
time
Disable integrator during motion
TrapezoidalProfile
22.5769 mv/cntKp
18.0467 msKi
3.5 m sKd
0.0 v/cnt/msKaff
100.0Accel
100.0Decel
10.0 units/secSpeed
10.0 unitsMove
units/sec
2
units/sec
2
Step 1: Measure Step 4: Response
0.0 ms 1536.00 ms 1536 ms
Freeze scale
Print
Graph setup
Save graph
Zoom
-.082
.082
0.0
Left cursor
0.000 ms
Right cursor
1536.000 m s
View Logged Data
_ X
5.0
Distance Limit - units
10.0
Speed - units/sec
2.0
Output - volts
1Servo axis
Response with low Kd.
Note oscillation at end of profile.
Axis 1 Position error (units)
Quit
Apply voltage
Measure
system gain
!! Motor may turn !!
Execute move
using updated
controller gains
SHUTDOWN
Update controller
with calculated
servo gains
2
0.0 %Kvff
13.0 voltsIntLim
1.024 m s
Sample
time
Step 3: Update
0.0 volts
30 hertz
Calculate servo gains
based on measured
system gain
0.0 revs/sec /v
2
System Gain
System Bandwidth
Step 2: Calculation
1.536 secs
Display
time
Disable integrator during motion
TrapezoidalProfile
22.5769 mv/cntKp
18.0467 msKi
9.0234 msKd
0.0 v/cnt/msKaff
100.0Accel
100.0Decel
10.0 units/secSpeed
10.0 unitsMove
units/sec
2
units/sec
2
Step 1: Measure Step 4: Response
0.0 ms 1536.00 ms 1536 m s
Freeze scale
Print
Graph setup
Save graph
Zoom
-.082
.082
0.0
Left cursor
0.000 ms
Right cursor
1536.000 ms
View Logged Data
_ X
5.0
Distance Lim it - units
10.0
Speed - units/sec
2.0
Output - volts
1Servo axis
Response if IntLim is too low and
integrator enabled during motion.
Note that the integrator cannot bring the error
to zero during the flat top part of the profile
Axis 1 Position error (units)
Quit