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December 2001
11. Check the acceleration feedforward:
7 7 7 7
Select operation with velocity feedforward control
7 7 7 7
Enter the following test program:
LBL 1
L X+100 R0 F5000
L X-100 R0 F5000
CALL LBL 1/10
7 7 7 7
Use the integrated oscilloscope to record the actual shaft speed
(ACTUAL RPM), the nominal current value (I NOMINAL), and the integral-
action component of the nominal current value I (INT RPM).
7 7 7 7
Start the test program.
7 7 7 7
Adjust the speed with the feed rate override knob so that I NOMINAL is not
limited.
7 7 7 7
Measure the gradient of the acceleration ramp in the part in which
I (INT RPM) remains constant.
7 7 7 7
Calculate MP2600.x:
I (N INT) [A] t [s] 60 [s/min] MP2020.x [mm]
--------------------------------------------------------------------------------------------------------------------------- -
MP2600.x
=
I (INT RPM) = Integral-action component of the nominal current value
t = Acceleration time in which I (INT RPM) remains constant
∆V (ACT RPM) = Change of actual rpm during t
MP2020.x = Traverse distance per motor revolution
7 7 7 7
Repeat this measurement to check the input value of MP2600.x.
I (INT RPM) must have approached zero.
Commissioning
⋅
⋅
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∆V(N IST) [mm/min]
6 – 499
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