Manual Pid Regulator Tuning Procedure - CS-Lab SimDrive M4-H075K User Manual

5.6.2 Manual PID controller tuning procedure
You should connect power output stage power supply (HV), however be ready to disconnect the
power supply in case if something was set incorrectly and motor will start to vibrate or rotate
uncontrollably.
You can use JOG function directly from csServoManager (ToolsJOG I/O control) during tuning.
Step by step tuning process looks as follows:
•
Make sure you won't cause mechanical damage of a machine axis and if any other person
doesn't work at the axis as a motor will start to rotate in a moment.
•
Press the
change into „Running", if there is an „Alarm" we
can delete it by pressing „Reset".
•
You should set low motion velocity value, about
50 rev/min and try to move an axis pressing the
revs buttons – into the right and into the left. If
you use the settings from „Initial settings of PID
controller" section the motor should move. Due to
very small accelerations the motion can be a bit
„ponderous" and unequal but it's normal.
o When you hear squeaks or you get an overload or short circuit alarm you should
decrease PID current controller values – group: „Current [PI] regulator". Decrease
the K
p
additionally the K
theoretically refuse to cooperate but practically we haven't noticed a situation like
that.
o If the motor jerks and the drive shuts down or the motor makes only a fraction of a
revolution and current increases till alarm overload state appear then one of
possible reason may be:






•
If the motor rotates then part of the hardest work is behind us and now we can start the
real tuning (description below).
36
button. The driver state should
by ¼. I fit won't help try to decrease the parameter again by ¼ and
parameter also by ¼. Very rare some untypical motors
i
Encoder counting direction set incorrectly
Incorrect connection of HALL sensors
HALL signals polarization set incorrectly
Incorrect motor's phases connection
Motor's pairs of poles number entered incorrectly
Failure of motor windings, HALL sensors or an encoder
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