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Adjusting the servo
amplifier
July 2013
Note
For analog axes, you must adjust the servo amplifier before you optimize
the position controller.
Procedure:
Disconnect the nominal-value connection between the servo amplifier and
CMA-H.
Short-circuit the nominal value input on the servo amplifier.
The input must have a 0 V voltage.
Activate control enabling at the servo amplifier.
Connect the power supply to the servo amplifier.
Perform a coarse offset adjustment:
• If the axis moves in spite of the short-circuited nominal value input, you
must adjust the offset potentiometer until the axis stops moving.
Remove the jumper at the nominal value input and establish a nominal-value
connection to the CMA-H.
Perform a coarse velocity adjustment:
• Set MP1010.x (rapid traverse) and MP1050.x (analog voltage at rapid
traverse).
• With the internal oscilloscope functions, output the nominal value step at
the height for rapid traverse.
• Record UANALOG and check the voltage.
• Use a tachometer to measure the rotational speed of the motor and a
tacho potentiometer at the servo amplifier to adjust the nominal speed for
rapid traverse.
• Connect an oscilloscope to the tachometer of the motor.
• Measure the step response on the tachometer during the step output.
Adjust the proportional (P) component and the integral-action (I) component
of the speed controller at the servo amplifier.
Optimum
6.14 Commissioning
Gain too large
Gain too small
1061
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