Manual Tuning The first six steps of the manual tuning process are shown in Figure A-16.

Figure A-16 Select Manual Tuning

1 Select Tuning

2

Select Manual

Tuning

3Select OK

6

Enter a value for Bandwidth

7

Click on

Download

4

Select Pole

Placement

5

Enter either Inertia or Inertia Ratio (the other value is automatically entered).

If “Pole Placement” method of adjustment is selected, you would enter values for “inertia” or “inertia ratio”. Enter either one, and the other value will automatically be entered. This is the easiest and recommended method of adjustment.

If “PI” method of adjustment is selected, you would enter values for GV–gain and GVI–gain. This is an advanced method of adjustment, and is more difficult.

Both methods of adjustment provide identical results. PI method is described later in this section.

POLE PLACEMENT

Pole placement provides a “no–overshoot response” when tuned for the correct inertia. This is the easiest and recommended method of adjustment.

Inertia Click in the “Load” block and enter the value in Kg–cm2. The range is from 0 to 133 Kg–cm2. Pole placement tuning requires conversion of load mass (weight) and motor mass (weight) values to inertia in Kg–cm2.

Kg * cm2 + ￿polepitch2 x (motor lbs. ) load lbs)￿100 4p2

Where: pole pitch (mm) LMBL=45.72; LMBLH=91.44; and LMCF=60.96.

If the inertia is under–estimated, the system will be stable. If the inertia is over–estimated, the system will vibrate or oscillate due to too much system gain. If the load inertia is unknown, estimate low. It is recommended to start with “load inertia = 0.2”, which represents a stable condition.

If you entered the “inertia ratio”, you should enter a value representing the ratio of reflected load inertia to motor inertia. The range is from 0 to 100.

A-6 Manual Tuning

MN1851

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Baldor MN1851 manual Figure A-16 Select Manual Tuning