BONMET SDL10A User Manual page 26

The first low-pass bandwidth of
Pn-32
speed loop
The first low-pass filter
Pn-33
bandwidth of torque command
The second speed loop
Pn-36
proportional gain
The second speed loop integral
Pn-37
time constant
The second low-pass bandwidth
Pn-38
of speed loop
The second low-pass filter
Pn-39
bandwidth of torque command
Enhancement of torque loop
Pn-69
response function
4.4.3 Operation Flow Chart
Set Pn-4 to 1
Set Pn-40 to 1
Set analog gain
of torque control
by Pn-18
Select rotation
direction
Set the
acceleration and
deceleration time
Set ServoEn ON
Analog input
drift
compensation
Host sends pulse
command for a
trial operation
Adjust the servo
gain
4.8).
Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the
second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.8).
Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.8).
The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop proportional gain automatically or manually (refer to chapter 5 section
4.8).
The value is determined by the type of servo and the load condition. In general,
larger load inertia needs larger value. It can be switched with the first speed
loop integral time constant automatically or manually (refer to chapter 5 section
4.8).
Normally, smaller value results in slower and smoother speed response. But too
much small value may cause system oscillation. It can be switched with the first
low-pass bandwidth of speed loop automatically or manually (refer to chapter 5
section 4.8).
Normally, smaller value results in slower and smoother speed response. But
too much small value may cause system oscillation. It can be switched with the
first low-pass filter bandwidth of torque command 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 speed control mode.
⑵
Select analog voltage as speed command by Pn-40.
⑵ Set the analog gain to select the relationship between analog voltage
and speed command, 3000rpm according to 10V for default.
⑶ Select rotation direction by Pn-20 or switch the direction by digital
input "
Logic_STOrder_Invert
⑷ Set Pn-34 for acceleration time and Pn-35 for deceleration time.
⑸ Set signal "ServoEn"ON or set Pn-8 to 100000, and the motor get the
power.
⑹ Set parameter Pn-19 to clear the analog
input drift.
⑺ In no-load conition (leave the motor shaft free), send pulse command
for forward, reverse, acceleration / deceleration and other operation
for a trial operation.
⑻ Make a trial processing and adjust the servo gain according to the
running status.
Figure 5-7 Operation Flow Chart
BONMET motion GmbH/www.bonmet.com/www.bonmet.de
"
25