CS-Lab CSMIO/IP-A Manual page 84

• Enable an axis by clicking „Apply / (RESET)". If there
are axis oscillations - click E-STOP, and next enter
kP=500, kI = 1. If there is a jerk and a drive turns off
it may mean that encoder counting direction is set
incorrectly, try to go to axis configuration and
change counting direction. If servo drive turned on
and axis stands still then you can go to the next step.
• Set Jog Feedrate on a small value e.g. 5% and try to move the axis by clicking
low PID gain the axis may not move at once, keep the motion button pressed for a moment
and watch the position („AxisPosition" in Monitor group). If the motor does not move check if
servo drive is enabled (e.g. if it gets ENABLE signal). Check also if the motor is equipped with
a brake. If the motor works you can go to the next step.
Click on automatic setting button „DAC Offset"
•
• Increase the kP gain gradually moving an axis simultaneously (set motion speed to about
50%). To move the axis you can use constant motion function
watch to not cross working area. If you hear the first signs of overcontrol (vibration, hum-
ming) decrease kP value by 15% and leave this way.
As in servo drives we usually use „P" and „I" controllers for velocity, in CSMIO/IP-A theoretically for posi-
tion regulation the „P" parameter should be enough, but as experience say - tuning of the „I" parameter in
CSMIO/IP-A increases positioning quality, regardless of the regulator used in a servo amplifier. Therefore
go to the next step - I parameter tuning.
• The procedure is just the same like for kP. Increase kI gain gradually moving an axis simul-
taneously. If you hear the first signs of overcontrol (vibration, humming) decrease kI value by
15% and leave this way.
kD usually can be set to „0". You can use this parameter when an axis, occasionally goes into
•
oscillations. This parameter has rather large values so if we want to use it I would start with
50000 value and larger. In this case we do not tune up till oscillation occur. We set the value
instead and wait if an axis has no longer tendency to go into oscillations. If it still has then
we increase the kD by another 50000 etc.
C S - L a b s . c . – C S M I O / I P - A - C N C c o n t r o l l e r
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