Fine-tuning the position loop | Baldor MN1274 06/2001 guide

4.3.3Fine-tuning the position loop

The following tuning methods involve adjusting the servo loop terms KVELFF, KPROP, KVEL and KDERIV, which all have a default value of zero.

1.Click the Position Loop Tuning tab

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

3.The first value to enter is KVELFF. To do this, click <-Calculate . The Calculate Velocity Feedforward Gain dialog box will appear.

Click Use this value to enter the value.

4.In the Shape Parameters frame, ensure the Move Type box is set to Step.

Click in the Size (uu) box and enter a value of 0.2.

Note: The term “uu” means user units. Previously, in the Wizard Axes Scale Parameters window, you setup a scaling factor of 4096 - equivalent to 1 count per revolution - so the the user unit is now revolutions.

If you selected a different scaling factor the value of 0.2 might not be suitable.

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

Contents

MN1274 06/2001 Installation ManualPage Iii Safety Notice Circuit amperes listed here at rated voltage Page Contents Viii Input / Output Mint WorkBench Appendices Tuning 129 Xii Introduction MintDrive features Identifying the catalog number Receiving and inspectionDate Meaning Alternatives Monitor LED display MintDrive indicatorsCan 1 and 2 LEDs Ready LED Units and abbreviations Outline You must read all the sections in Basic InstallationHardware requirements Each step should be followed in sequence CBL Other information needed for installation Power sources2 RS485 / RS422 systems Tools and miscellaneous hardware Mechanical installation and location requirements Package dimensions Dimensions and mounting Power connections Single phase units GroundingMintDrive Input power conditioning Power disconnect and protection devicesUngrounded distribution systems Circuit breaker and fuse, single phase, package size C Delay Wire sizes Single phase connection to package size C Single phase connection to package size a or B Three phase connection to package size C 8 24V control supplyInput current Output voltage DC Bus power connections from package size CMintDrive External drive Power supply filters Nominal output voltage Motor connections Motor circuit contactors Regeneration resistor Dynamic Brake resistor Regeneration resistor mountingBaldor regeneration resistor catalog numbers Feedback connections Resolver option Pin Resolver functionBaldor Motor Signal name Motor / cable Resolver cable wire Pin Color Resolver cable pin configuration Pin Encoder function Encoder option This completes the basic installation Drive enable Analog I/O Input / Output Mint keyword Analog Input, Single EndedADC.2 Description ADC.3 Analog Input, Differential Pins Name Analog Inputs, DifferentialADC.0 ADC.1 Page AUXDAC.2 AUXDAC.3 Analog Outputs, Bipolar AOUT0 and AOUT1 analog outputs AUXDAC.0 AUXDAC.1 Digital I/O Digital Inputs Pin Name Mint keywordExternal +24VDC supply Active high =+24VDC =0V Active low X13 Thermal switch connection X5 Digital inputs External +24VDC supply Active high A=+24VDC B=0V Active low Special functions on inputs DIN0 and DIN2 Breakout boardInput Function OUT.5 Digital OutputsOUT.6 OUT.7 OUT.2 OUT.4OUT.0 OUT.3 Simulated encoder output Other I/OPin Name MintDrive NextMoveBX encoder input Differential encoder connections Master auxiliary encoder input Auxiliary encoder circuit Pin RS232 Name RS485 / RS422 name Serial port RS232 serial port connections Using RS232 cable Master Controller Multidrop using RS485 / RS422 cable Baldor HMI PLC Port Connecting Baldor HMI Operator Panels Can peripherals Optional breakout board for connector Installing the software Connecting the MintDrive to the PC Starting the MintDrive Mint Configuration Tool Startup Wizard coarse tuning Page Page An introduction to closed loop control MCT Startup Wizard fine-tuningPage Fine-tuning the speed loop Fine-tuning the position loop Click Start Move Jog test Completing the Startup Wizard Click Mint Configuration Tool in Wizard Mode Digital input configuration MCT Wizard hardware configuration Digital output configuration Axis0 error configuration Axis0 parameter configuration Miscellaneous configuration Axis0 tuning configuration Completing the configuration wizard Page Mint WorkBench Completing configuration Selecting the controller Using WorkBenchMenus and buttons Standard toolbar functions Macro toolbar functions Motion toolbar functionsStatus bar Can window Quick Watch tab Watch window 740 × L × A∕V Speed Loop tab Position Loop tab Capture tab Configuration window Editor windowsProgram window Terminal window Useful commands for testingTo start the motor turning slowly, type To stop the motor turning, type Combining commands on one line To turn a distance of 5 turns, typeTo change the speed, type CON Firmware updateNEW ProgPage General specifications Specifications Power Resolver feedback Rectifier and regeneration Encoder feedback Control signals Environmental Page Problem diagnosis Troubleshooting Communication Problem Check Corrupted. Use Release Power up Data Defaulting to Tuning Mint gains Config = cfCURRENTAMPLIFIER Print Drivefault Code Problem CheckReady LED is red Parameter Code Problem Check 7 can Problem Check Page Purpose Name Abbreviation / keyword Tuning a Introduction Figure A.1 MintDrive Closed Loop System Closed loop control 100 Position loop Current loop Speed loopMintDrive operational modes 101 Tuning the position loop for a servo drive Tuning the position loop for a velocity servo drivePosition Loop gain terms 102 KINTMODE=2 103 Position Loop Tuning using a step move Position Loop Tuning using a trapezoidal move type104 Saving tuning information Tuning the position loop for a torque servo driveCONFIG=6 105 106 MintDrive capabilities 107Cable length Maximum bit rate Resistance Conductor area 108 Can 1 CANopen Can 1 CANopen109 Pin Name Description What is CANopen? 110Type Mint Constant Node Type Network manager node Configuring nodesScanning nodes 111 Connecting to nodes 112? NODELIVE.1.2 ? NODETYPE.1.2 Monitoring can events 113Event Number Mint Constant Singlecast communication Controller nodesBroadcast communication 114 9 I/O nodes Digital I/O accessComms array subroutines 115 Analog I/O Access Extra Analog I/O Functionality116 HMI Operator Panels 117REMOTEADCDELTA.1.2.3 = 118 Can 2 Baldor can Can 2 Baldor can119 Preparing the MintDrive Connecting the PC, MintDrive and can peripheralPreparing the can peripheral 120 Node type Type Mint Constant Default Node ID Baud rate Static configurationRemotesetup Node IDs Adding the node to the network 122NODETYPE.7 = Controlling the can peripheral Monitoring can Bus communicationsNormal operation 123 124 KeypadNodeBUS=2 Pause NODELIVE.14 125 IoNode 24/24 126 Example can networkNODESCAN.0 View NODELIVE.2 Mint can related keywords Using abbreviations127 Keyword Abbreviation 128 129 Declaration of Conformity EMC Conformity and CE marking EMC wiring techniqueUse of CE compliant components 130 131 EMC installation suggestionsEMC filters Grounding Earth 132 Wiring of shielded screened cables Figure C.4 Handwheel Encoder cable grounding Figure C.5 Encoder signal cable grounding 134 Cable Cable assembly Baldor catalog number Length Cables135 136 Resolver feedback cable EMC mains filters Filter dimensions FN351-36-33 and FN351-50-33Catalog numbers 137 Dimensions inches mm Dimension FN2070-6-06138 139 Regeneration resistorsBaldor catalog number MintDrive 115VAC drives 230VAC drives Baldor 140 Breakout boardPage MN1274 06/2001