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To Trigger Test
You can trigger test movements as follows as you perform optimization:
Movements
Fig. 7-15 Test Movements for Optimizing the Servo Control System
Selecting Initial
Servo drive
Values of Re-
Set the following machine data in accordance with the drive time constant Ta
sponse-Defining
(Ta
MD
steps below, e.g. for an axis in MSR 10
The acceleration value that actually acts on the system is reduced by the time
response of the position control circuit - i.e. as a function of the K
The maximum acceleration (a) in this setting can be attuned to the drive time
constant, and can be estimated as follows:
a
FM 453 Servo Drive / Step Drive Positioning Module
C79000-G7076-C453-01
Select
Mode = jogging
Speed level 2
OVER = various values
Set
Speed level 1 = 0.1
Speed level 2 = 0.5
Set
Servo = ON
Start axis
Plus or minus direction
(be sure there is enough room!)
Evaluate axis response
Further testing desired?
Yes
No
END
) determined in Section 7.3.2 to the initial values for the optimization
real
Acceleration, delay
2
MD40 = MD41 [mm/s
] = 30
Jolt time
MD42 (ms) = 0
Positioning loop amplification
MD38 (1/min) = 100,000 : Ta (ms)
2
[mm/s
] = 16
MD23 [mm/min] : Ta [ms]
max
Starting up the FM 453
v
max
v
max
Uniformity of movement - Over-
shoot - Positioning time
–3
mm:
MD23 [mm/min] : Ta [ms]
value.
v
7-29
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