Operation Flow Chart - BONMET SDL10A User Manual

The first cut-off frequency of
Pn-46
position feed forward filter
Constant of position command
Pn-47
filter
The second Position loop
Pn-66
proportional gain
The second position loop
Pn-67
differential proportional gain
The second cut-off frequency of
Pn-68
position feed forward filter
Enhancement of torque loop
Pn-69
response function

4.3.3 Operation Flow Chart

Set Pn-4 to 2
Select input
pulse command
type
Select rotation
direction
Select electronic
gear function
Set ServoEn ON
Host sends pulse
command for a
trial operation
Adjust the servo
gain
manually (refer to chapter 5 section 4.8).
The filter is used to increase the stability of compound position control. It can
be switched with the second cut-off frequency of position feed forward filter
automatically or manually (refer to chapter 5 section 4.8).
①Smoothen filter for the command pulse with the accelerate of index form,
the value stands for time constant. The unit is ms;
②Filter would not lose input pulse but may lead to delay;
③The filter works in the follow conditions:
● Host controller has not acceleration and deceleration function;
● Larger electronic gear ratio (＞10);
● Lower command frequency;
● Motor running with jumps or other unstable conditions;
④Filter is inactive as set to 0.
Higher gain results in greater mechanical stiffness and less position tracking
error. Too large value may cause overshoot or oscillation. It can be switched
with the first Position loop proportional gain automatically or manually (refer
to chapter 5 section 4.8).
Higher gain results in greater mechanical stiffness and less position tracking
error. Too big value may cause overshoot or oscillation; This parameter is
usually set to zero unless very fast response is required. It can be switched with
the first position loop differential proportional gain automatically or manually
(refer to chapter 5 section 4.8).
The filter is used to increase the stability of compound position control. It can
be switched with the first cut-off frequency of position feed forward filter
automatically or manually (refer to chapter 5 section 4.8).
As set the value to 1, it can enhance the response of the torque, but it may
cause some current noise in the motor.
⑴ Select position control mode.
⑵
Select input pulse command type (support pulse/direction pulse ,
CCW/CW pulse, A phase/B phase pulse ) by Pn-52.
⑶ Select rotation direction by Pn-53.
⑷ Select electronic gear ratio by Pn-48, Pn-49, Pn-50.
⑸ Set signal "ServoEn" ON or set Pn-8 to 100000,
and the motor get the power.
⑹ In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.
⑺ Make a trial processing and adjust the servo gain according to the
running status.
BONMET motion GmbH/www.bonmet.com/www.bonmet.de
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