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165
Tuning Procedures
3. Repeat Step 1 using a velocity at least two times the low speed.
4. While at speed, note the Torque Command Actual value (TCH).
5. Use the following formula to calculate the friction:
Where:
T
CH
= Torque Command Limited value at higher speed
T
CL
= Torque Command Limited at lower speed
RPM
H
= Higher RPM (velocity)
RPM
L
= Lower RPM (velocity)
FV = Friction value
The figure below shows the relationship of Torque Command to the Velocity Feedback.
There is increased torque during the Accel ramp (Ta), constant torque (Tc) during the
constant velocity portion of the ramp and decreased torque (Td) during the decel ramp.
Figure 77: Trapezoidal Velocity Waveform with Torque Waveform
Determining Inertia Ratio
Actual system Inertia Ratio is determined by accelerating and decelerating the load with a
known ramp while measuring the torque required.
Consider the following before determining the inertia:
• If your application allows a great deal of motor motion without interference, it is
recommended that you use a Preset Velocity to produce accurate acceleration ramps.
LH
CLCH
RPM - RPM
)T - (T
FV )100(=
- Reference Manual 3
- Customer Service 5
- Document Conventions 7
- Safety Instructions 8
- Reference Materials 8
- Safety Considerations 9
- Table of Contents 11
- Specifications 189 13
- Glossary 205 13
- Index 213 13
- Introduction 15
- Programming Module 16
- Operational Overview 17
- Keypad Interface 18
- How Motion Works 20
- How Jogging Works 20
- How Home Works 21
- Home Sequence 22
- Accuracy and Repeatability 24
- 1600 µsec 25
- Sensor Min 25
- Calculated 26
- Home Offset 26
- Specified 27
- Home Examples 28
- (2.0 Revs) 29
- Offset Move 29
- Velocity 31
- Acceleration 31
- Deceleration 31
- Run at Velocity 31
- Absolute vs. Incremental 32
- Absolute Index 33
- Incremental Indexes 34
- How Communications Work 36
- Setting Up Parameters 39
- Configuration Group 40
- Drive Encoder Output Group 40
- Positive Direction Group 41
- Motor Position Group 41
- Drive Information Group 42
- Motor Velocity Group 42
- Module Information Group 42
- Master Feedback Group 42
- Torque Group 43
- Scaling 45
- Velocity Group 46
- Acceleration Group 47
- Master Position Setup Group 49
- Master Distance Units 49
- Decimal Places 50
- Master Velocity Units 50
- Master Acceleration Units 50
- Limits Group 52
- Rotary Group 53
- Online Tab 54
- Online Tab (not shown) 56
- Assignments Tab (shown) 56
- Ramps Group 58
- Assignments Tab 58
- Online Status Tab 60
- Tuning Group 62
- Position Error Integral Group 62
- Time Constant 63
- Faults View 64
- PLS View 65
- On Point 66
- Off Point 66
- Direction 66
- Rotary Enable 67
- Rollover Point 67
- I/O Setup Group 68
- Selector View 68
- Assignments 70
- Assignments View 71
- Creating An Assignment: 72
- Deleting An Assignment 72
- Assignment Polarity 73
- Input Lines View 74
- Output Lines View 75
- Motion Group 76
- Jog View 76
- Jog Number 77
- Jog Name 77
- Time Base 77
- Jog Velocity 77
- Jog Acceleration 77
- Jog Sources and Destinations 78
- Home View 82
- Limit Distance 84
- End of Home Position 84
- Home Sources and Destinations 85
- Index View 86
- Enable Index PLS 88
- PLS On Point 88
- PLS Off Point 88
- Registration Parameters 89
- Destinations 91
- Index.#.Sensor Trigger 92
- Network Group 93
- Modbus View 93
- Wait For InPosn 95
- Jog.PlusInitiate 97
- Program Flow Instructions 99
- Index.1.Vel = 20.0 104
- ModuleOutput.1 = ON 104
- Example Programs 105
- ‘Dist=50.000,Vel=1.000in/in 106
- Flying Cutoff/Shear 107
- Programming 109
- Sequence Learn and Playback 110
- Playback Program (Program 2) 112
- Parameter Descriptions 113
- Parameters Saved to NVM 141
- Installation 143
- Modbus Communications 144
- Software Installation 145
- PC System Configuration 145
- Installing PowerTools FM-3 145
- Starting the Software 146
- Accessing Help 147
- Quick Start 149
- User Units View 150
- Master Units View 151
- Position View 151
- Velocity View 152
- Ramps View 153
- Torque View 153
- Tuning View 153
- Step 3: Making Assignments 154
- Click and Hold 155
- Jog Setup 156
- Home Setup 157
- Index Setup 158
- Step 5: Creating a Program 160
- Example Application Start Up 163
- Software Travel Limits 163
- Home Prox 163
- Making Assignments 164
- Tuning Procedures 171
- Tuning Procedure 172
- General Tuning Hints 173
- Tuning Parameters 174
- Response 175
- Feedforwards 175
- Low Pass Filter Group 176
- Line Voltage 176
- Initial Test Settings 177
- Determining Friction 178
- RPM - RPM 179
- FV )100(= 179
- Ramp Units Conversion 181
- Diagnostic Display 183
- Fault Codes 184
- Fault Descriptions 186
- Brake Operation 190
- Analog Outputs 191
- Channel #2 192
- Channel #1 192
- Analog GND 192
- Drive Faults 194
- Error Messages 194
- Programming Error Messages 196
- Online Status Indicators 201
- Specifications 203
- Cable Diagrams 205
- SNCE-XXX Cable 206
- SNCDD-001.5 Cable 206
- SNCO-003 Cable 207
- SNCI-003 Cable 207
- SNCLI-003 Cable 208
- CMDX-XXX Cable 209
- CMDO-XXX Cable 210
- CDRO-XXX Cable 211
- TIA-XXX Cable 212
- DDS-XXX Cable 212
- TERM-H (Head) Terminator 213
- TERM-T (Tail) Terminator 213
- CMDS-XXX Cable 214
- CMMS-XXX Cable 214
- CFCS-XXX Cable 215
- CFCO-XXX Cable 216
- CFOS-XXX Cable 217
- Vendor Contact Information 218
- Glossary 219
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