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July 2013
Step 11: Check the acceleration feedforward
Select operation with velocity feedforward control.
Enter the following test program:
LBL 1
L X+100 R0 F5000
L X-100 R0 F5000
CALL LBL 1/10
Use the integrated oscilloscope to record the actual shaft speed (ACT RPM),
the nominal current value (I NOMINAL), and the integral-action component
of the nominal current value I (INT RPM).
Start the test program.
Adjust the speed with the feed rate override knob so that I NOMINAL is not
limited.
Measure the gradient of the acceleration ramp in the part in which I(INT
RPM) remains constant.
Calculate MP2600.x:
I (INT RPM) [A] ⋅ t [s] ⋅ 60 [s/min] ⋅ MP1054.x [mm]
ΔV (ACT RPM) [mm/min]
MP2600.x =
I (N INT):Integral-action component of the nominal current value
t:
Acceleration time in which I (INT RPM) remains constant
ΔV (ACT RPM):Change of actual rpm during t
MP1054.x:Traverse distance per motor revolution
Repeat this measurement to check the input value of MP2600.x.
I (INT RPM) must have approached zero.
6.14 Commissioning
1053
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