Initialization And Setup - Fagor ACS Series Manual

5.4

INITIALIZATION AND SETUP

Verify that the identity card IM is the right one. The name of the card itself indicates which motor
and drive combination it has been designed for.
Select whether Ramps are to be generated or not using jumper J2.
Yes (J2-ab). No (J2-bc).
To cancel the control of excessive acceleration, change the jumper J3 position. Active (J3-ab).
Verify that jumper J4 selects the type of command to govern the motor and that it is applied at the
right pins. Current (J4-ab). Velocity (J4-bc).
Measure the motor speed. Apply the maximum velocity command. Then, turn the Max.Speed
potentiometer until reaching the desired speed for that command. For 10V of velocity command
with the motor turning at the maximum speed, the monitoring output (pins 8 and 10 of X2) will
provide 10V.
Use the Max.Current.Limit potentiometer to adjust the maximum peak current (maximum motor
torque). To monitor the peak current, the motor may be turned back and forth at full torque and
without generating ramps.
Adjust the gain of the velocity PI with the PI.Gain potentiometer until the desired behavior is
obtained.
Adjust the velocity offset.
Send to the drive an analog voltage of 0 Volts (by jumpering pins 4,5 and 6 of X1 connector).
Measure the motor speed and turn the Offset potentiometer on the identity card until the motor
stops. But, CAREFUL, by this method, only the drive offset is eliminated, the CNC may have an
offset of its own. Now the CNC offset should be adjusted.
To adjust the offset in the complete control loop, set the CNC in DRO mode, but with the
Drive_Enable and Speed_Enable signals active. Turn the offset potentiometer until stopping the
motor. Another way could be to set a position for the axis with the CNC and turn this
potentiometer until a symmetrical following error is obtained.
Adjust the ramp value. If the generation of ramps has been activated with J2, turn the Acc/Dec
Ramps potentiometer until obtaining the desired behavior.
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