Adjustment Of Position Controller And Drive Profile; Controller And Drive Profile - KEB COMBIVERT F4-F Applications Manual

Positioning Module
6.11.17 Adjustment of
Position
Controller and
Drive Profile
Fig. 6.11.16 Recording of a drive profile
KEB-Antriebstechnik (R) COMBIVIS (R) Inverter scope
KEB-Antriebstechnik (R) COMBIVIS (R) Inverter scope
CH A:Inv 1 ru01 Actual speed
CH A:Inv 1 ru01 Istdrehzahl
CH B:Inv 1 ru04 Setpoint speed
CH B:Inv 1 ru04 Solldrehzahl
CH C:Inv 1 ru02 Actual torque CH C:Inv 1 ru02 Istmoment
CH D:Inv 1 ru27 Angular displacement CH D:Inv 1 ru27 Winkelabweichung
CU I : Off
CU I : Off
CU II: Off
CU II: Off
MEM:(1604/4000)
D
B
C
A
C
A D B
© KEB Antriebstechnik, 1999
All Rights reserved
At large mass moments of inertia unwanted effects often occur during positioning;
following a short instruction for the parameterizing.
• Carry out the speed controller setting as usual (CS-Par.)
• Activate the positoining module and record the positioning process with
the inverter-scope.
The following example was recorded with a COMBIVERT S4, but it also corresponds
to a COMBIVERT F4-F:
0ms - 4000ms
This recording shows that the drive cannot follow the setpoint. At the acceleration
along the torque limit the angular displacement increases. The drive compensates
the phase-angle error by catching up until zero. At this it is important that the maximum
speed (SP .8/SP .9) is adjusted larger than Pd.3 + Pd.7.
During deceleration the drive cannot follow the precontrol profile. It comes to an
overshoot. Subsequently the drive is put back into its setpoint position with the speed
adjusted in Pd.3. In this example the overshoot (angular displacement) amounts to
3.5 motor revolutions.
To accelerate up to the maximum speed the drive requires approx. 300 ms in this
example. For our second test we adjust this value now for as acceleration time Pd.6.
Name: Basis
KEB COMBIVERT F4-F
Functional Description
1000rpm/DIV Ypos: 0rpm
1000rpm/DIV Ypos: 0rpm
1000rpm/DIV Ypos: 0rpm
1000rpm/DIV Ypos: 0rpm
4.1Nm/DIV 4.1Nm/DIV Ypos: 0Nm Ypos: 0Nm
360x/DIV 360x/DIV Ypos: 0x Ypos: 0x
ANTRIEBSTECHNIK
Date Chapter Section
6 11
17.06.99
6
Page
15
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