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BECKHOFF
5.8
Optimizing the position controller
Screen page POSITION CONTROLLER
Preparation
1.
OPMODE:
Select OPMODE 8 (screen page AMPLIFIER)
2.
Position the load in a middle position:
The aim is, to use the Jog Mode function to move the load to approximately the middle of the motion path.
- Click on the POSITION button
- Click on the HOMING button
- Check that the parameter v (Jog Mode) is set to 1/10 of the
preset speed limit vmax. The sign of "v" determines the direction.
Alter the value if necessary, and click on APPLY.
- Start the function JOG MODE by using the function key F4 and
move the load to approximately the middle of the motion path
WARNING:
If the drive moves in the wrong direction, release the F4 function key
and change the sign of the parameter "v" (Jog mode).
Use F4 again to move the load to approximately the middle of the motion path.
3.
Set reference point:
- Set the homing type to activate "0, set reference point".
Start the homing run. The momentary position is set as the reference point.
- Stop the homing run
- Click on the radio button "SW-disable" in the amplifier window
4.
Define test motion blocks:
- Click on the POSITION button
- Click on the POSITION DATA button
- Click on the MOTION TASK TABLE button and select task 1. Enter the
values from the table below, then select task 2 and
enter the corresponding values.
units
type
s_cmd
v_cmd_source
v_cmd
t_acc_tot
t_dec_tot
ramp
next motion task
next number
acc./dec.
start condition
APPLY/OK
5.
Save parameters:
- Click on the
- Answer the query RESET AMPLIFIER with YES
Setup Software
Task 1
Task 2
SI
SI
REL setpoint
REL setpoint
+10% of total path
-10% of total path
digital
digital
10% of vmax
10% of vmax
10 * t_acc/dec_min
10 * t_acc/dec_min or a
10 * t_acc/dec_min
10 * t_acc/dec_min or a
trapeze
trapeze
with
with
2
1
to target position
to target position
immediately
immediately
click
click
button
Axis Commissioning Checklist Procedures
07/03
/ 10
max
/ 10
max
21
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