5Functions

5.2.2Test Operation

This operation generates a 2.5Hz square wave and uses it as position command signal for adjustment of the control part. Set the analog monitor to test operation response to measure the response waveform on the oscilloscope.

The position feed forward, velocity feed forward, and acceleration feed forward are set to 0 internally during the test operation.

The settling wait function is not performed at the end of the test operation.

[Related parameters]

#31 Operation width under testing mode #50 Position control bandwidth 1

#48 Position control bandwidth 2 #51 Velocity control bandwidth 1 #49 Velocity control bandwidth 2 #53 Position integral limiting value #70 Analog monitor selection

#72 Test operation monitoring gain (analog monitor)

•Obtain the fastest possible rise time of the response waveform and make adjustments so that overshoot will not occur.

•The closer the position control bandwidth and velocity control bandwidth are, the more the waveform

! Caution

will oscillate.

•If the inertia and weight of the load are large, the oscillations may be eliminated by setting the position integral limiting value to a small value.

Increase the position control bandwidth. Make adjustments until this waveform is reached

If the velocity control bandwidth cannot be increased any further, the position control bandwidth should be decreased

5.2.3Auto-Tuning Operation

This operation makes the rotor oscillate, measures the inertia and weight of the load, and automatically sets the parameters for the control part.

It accelerates/decelerates with half the rated torque and rated thrust of the motor, and measures the inertia and weight of the load from the velocity changes at that time. The result of the measurement is written to the #155 Load inertia/load mass parameter.

From the measured inertia and weight of the load, it adjusts the position control bandwidth, velocity control bandwidth, and position integral limiting value according to the setting value of the #38 Servo stiffness settings parameter. For the position control bandwidth and the velocity control bandwidth, the results are reflected in the parameters on the side selected by the controller interface (see Section 6.5.2, “Position Control Bandwidth Selection FN” and Section 6.5.3, “Velocity Control Bandwidth Selection GAIN). It does not adjust position feed forward, velocity feed forward, and acceleration feed forward.

The settling wait function is not performed at the end of the auto-tuning operation.

[Related parameters]

[Auto-set parameters]

#32

Operation width under Auto-tuning

#50

Position control bandwidth 1

#33

Maximum deceleration under Auto-tuning

#48

Position control bandwidth 2

#34

Initializing the deceleration time while under Auto-

#51

Velocity control bandwidth 1

 

tuning

#49

Velocity control bandwidth 2

#37

Auto-tuning repeat count

#53

Position integral limiting value

#38

Servo stiffness settings

#155

Load inertia/load mass

5-4

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Parker Hannifin G2 manual Test Operation, Auto-Tuning Operation
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G2 specifications

Parker Hannifin G2 is a state-of-the-art platform designed to transform the way industries approach fluid and motion control. As a leader in motion and control technologies, Parker Hannifin has integrated cutting-edge features into the G2, making it a standout choice for various applications, including aerospace, industrial automation, and hydraulic systems.

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