Fine-tuning the speed loop | Baldor MN1274 06/2001 specs

4.3.2Fine-tuning the speed loop

Before selecting the servo (position) loop gains, the speed loop gains might need to be fine tuned.

Note: MCT will have created starting values for the speed loop gains, so if you are not sure which values to adjust, you can go straight to section 4.3.3 on page 57.

If you wish to change any of the speed loop gains:

1.Click the Speed Loop Tuning tab

2.The Speed Loop Tuning Parameters frame shows the values of the terms.

3.MCT will have calculated suitable values during the coarse tuning tests. However, in some systems you may achieve better results using the theoretical value for KIPROP. To do this, click <-Calculate. The Calculate Current Proportional Gain dialog box will appear.

Click Use this value to use the theoretical value.

The following information should be considered if you change any of the speed loop parameters.

The value for Current Integral gain (KIINT) is preset to 50Hz. This setting is suitable for almost every system and should not need be changed.

The value for Speed Proportional gain (KVPROP) is set to a default value of 4. This gain may be increased or decreased to suit the application. Increasing KVPROP will result in a faster response, but excessive values will cause overshoot and oscillation.

The value for Speed Integral gain (KVINT) is set to a default value of 1 and should not be adjusted unless you are an experienced user.

The value for Speed Differential gain (KVDIFF) has no effect on the MintDrive.

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Baldor MN1274 06/2001 installation manual Fine-tuning the speed loop

Contents

Installation Manual MN1274 06/2001Page Iii Safety Notice Circuit amperes listed here at rated voltage Page Contents Input / Output Viii Mint WorkBench Tuning Appendices 129 Xii MintDrive features Introduction Receiving and inspection Identifying the catalog numberDate Meaning Alternatives MintDrive indicators Monitor LED displayCan 1 and 2 LEDs Ready LED Units and abbreviations You must read all the sections in Basic Installation OutlineHardware requirements Each step should be followed in sequence CBL Power sources Other information needed for installation2 RS485 / RS422 systems Tools and miscellaneous hardware Mechanical installation and location requirements Dimensions and mounting Package dimensions Power connections MintDrive Single phase unitsGrounding Ungrounded distribution systems Input power conditioningPower disconnect and protection devices Circuit breaker and fuse, single phase, package size C Wire sizes Delay Single phase connection to package size a or B Single phase connection to package size C Input current Three phase connection to package size C8 24V control supply DC Bus power connections from package size C Output voltageMintDrive External drive Power supply filters Motor connections Nominal output voltage Motor circuit contactors Baldor regeneration resistor catalog numbers Regeneration resistor Dynamic Brake resistorRegeneration resistor mounting Feedback connections Baldor Motor Resolver optionPin Resolver function Resolver cable pin configuration Signal name Motor / cable Resolver cable wire Pin Color Encoder option Pin Encoder function Drive enable This completes the basic installation Input / Output Analog I/O Analog Input, Single Ended Mint keywordADC.2 Description Analog Input, Differential ADC.3 ADC.0 ADC.1 Pins NameAnalog Inputs, Differential Page Analog Outputs, Bipolar AUXDAC.2 AUXDAC.3 AUXDAC.0 AUXDAC.1 AOUT0 and AOUT1 analog outputs Digital I/O External +24VDC supply Active high =+24VDC =0V Active low Digital InputsPin Name Mint keyword Thermal switch connection X13 External +24VDC supply Active high A=+24VDC B=0V Active low X5 Digital inputs Input Function Special functions on inputs DIN0 and DIN2Breakout board Digital Outputs OUT.5OUT.6 OUT.7 OUT.4 OUT.2OUT.0 OUT.3 Other I/O Simulated encoder outputPin Name MintDrive NextMoveBX encoder input Master auxiliary encoder input Differential encoder connections Auxiliary encoder circuit Serial port Pin RS232 Name RS485 / RS422 name Using RS232 cable RS232 serial port connections Multidrop using RS485 / RS422 cable Master Controller Connecting Baldor HMI Operator Panels Baldor HMI PLC Port Optional breakout board for connector Can peripherals Connecting the MintDrive to the PC Installing the software Starting the MintDrive Mint Configuration Tool Startup Wizard coarse tuning Page Page MCT Startup Wizard fine-tuning An introduction to closed loop controlPage Fine-tuning the speed loop Fine-tuning the position loop Click Start Move Jog test Click Mint Configuration Tool in Wizard Mode Completing the Startup Wizard MCT Wizard hardware configuration Digital input configuration Digital output configuration Axis0 parameter configuration Axis0 error configuration Axis0 tuning configuration Miscellaneous configuration Completing the configuration wizard Page Completing configuration Mint WorkBench Using WorkBench Selecting the controllerMenus and buttons Standard toolbar functions Motion toolbar functions Macro toolbar functionsStatus bar Can window Watch window Quick Watch tab Speed Loop tab 740 × L × A∕V Position Loop tab Capture tab Program window Configuration windowEditor windows Useful commands for testing Terminal windowTo start the motor turning slowly, type To stop the motor turning, type To change the speed, type Combining commands on one lineTo turn a distance of 5 turns, type Firmware update CONNEW ProgPage Specifications General specifications Power Rectifier and regeneration Resolver feedback Control signals Encoder feedback Environmental Page Troubleshooting Problem diagnosis Problem Check Communication Power up Corrupted. Use Release Data Defaulting to Tuning Config = cfCURRENTAMPLIFIER Mint gains Ready LED is red Print DrivefaultCode Problem Check Parameter Code Problem Check 7 can Problem Check Page Tuning a Introduction Purpose Name Abbreviation / keyword Figure A.1 MintDrive Closed Loop System Closed loop control Position loop 100 Speed loop Current loopMintDrive operational modes 101 Tuning the position loop for a velocity servo drive Tuning the position loop for a servo drivePosition Loop gain terms 102 103 KINTMODE=2 104 Position Loop Tuning using a step movePosition Loop Tuning using a trapezoidal move type Tuning the position loop for a torque servo drive Saving tuning informationCONFIG=6 105 106 Cable length Maximum bit rate Resistance Conductor area MintDrive capabilities107 108 Can 1 CANopen Can 1 CANopen109 Pin Name Description Type Mint Constant Node Type What is CANopen?110 Configuring nodes Network manager nodeScanning nodes 111 ? NODELIVE.1.2 ? NODETYPE.1.2 Connecting to nodes112 Event Number Mint Constant Monitoring can events113 Controller nodes Singlecast communicationBroadcast communication 114 Digital I/O access 9 I/O nodesComms array subroutines 115 116 Analog I/O AccessExtra Analog I/O Functionality REMOTEADCDELTA.1.2.3 = HMI Operator Panels117 118 119 Can 2 Baldor canCan 2 Baldor can Connecting the PC, MintDrive and can peripheral Preparing the MintDrivePreparing the can peripheral 120 Static configuration Node type Type Mint Constant Default Node ID Baud rateRemotesetup Node IDs NODETYPE.7 = Adding the node to the network122 Monitoring can Bus communications Controlling the can peripheralNormal operation 123 KeypadNode 124BUS=2 Pause NODELIVE.14 IoNode 24/24 125 Example can network 126NODESCAN.0 View NODELIVE.2 Using abbreviations Mint can related keywords127 Keyword Abbreviation 128 Declaration of Conformity 129 EMC wiring technique EMC Conformity and CE markingUse of CE compliant components 130 EMC installation suggestions 131EMC filters Grounding Earth Wiring of shielded screened cables 132 Figure C.5 Encoder signal cable grounding Figure C.4 Handwheel Encoder cable grounding 134 135 Cable Cable assembly Baldor catalog number LengthCables Resolver feedback cable 136 Filter dimensions FN351-36-33 and FN351-50-33 EMC mains filtersCatalog numbers 137 138 Dimensions inches mmDimension FN2070-6-06 Regeneration resistors 139Baldor catalog number MintDrive 115VAC drives 230VAC drives Baldor Breakout board 140Page MN1274 06/2001