Parker-hannifin SERVO CONTROLLER OEM6250 Manual de usuario descargar pdf (Pagina 49)

Appendix A – Tuning

Tuning Process Flow Diagram

(using proportional and velocity gains)

Increase SGP

UNTIL

Decrease SGV

UNTIL

Increase SGV

UNTIL

Decrease SGV

UNTIL

Decrease SGP

UNTIL

Decrease SGV

UNTIL

Increase SGV

UNTIL

START

STOP

Step 6

Use the Velocity Feedforward Gain (SGVF) to

reduce position error at constant speed.

a. Execute a continuous (MC1 command) move, setting

the acceleration, deceleration and velocity values

appropriate to your application. Set the SGVF value to

be the product of SGP * SGV (if SGV = zero, set SGVF

equal to SGP).

b. Check the position error at constant velocity by

issuing the TPER command.

c. Increase SGVF to reduce the position error (repeat steps

a and b as necessary).

Step 7

Use the Acceleration Feedforward Gain (SGAF)

to reduce position error during acceleration.

a. Execute a continuous (MC1 command) move, setting

the acceleration, deceleration and velocity values

appropriate to your application. Set SGAF to 0.01

(SGAF¯.¯1).

b. Check the position error during acceleration by issuing

the TPER command.

c. Increase SGAF to reduce the position error (repeat steps

a and b as necessary).

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Parker-hannifin SERVO CONTROLLER OEM6250 Manual de usuario Pagina 49