Torque Scan Function - Cstorquescan - CS-Lab SimDrive M4-H075K User Manual

5.7 Torque scan function - csTorqueScan™

Some motors have large torque ripple in a rev angle
function. simDrive servo drive enables a measurement of
these ripples and lets for proper compensation entering in
a real time. It makes positioning is more precise and
vibrations are suppressed (without the compensation the
vibrations would occur at some velocity ranges).
This function is designed for rather more advanced users
as precise tuning requires from a user more experience
and skill to asses an operations of a motor.
„csTorqueScan™" tab is available in PID tuning window. Scanning and attuning procedure looks as
follows:
1. Motor scanning
•
Make sure that any other person doesn't work on a machine and that there are no
obstacles for the motor to perform +/- 2 revs.
• Make sure that PID controllers have already been tuned earlier.
•
Make sure that power outputs stage power supply (HV) is enable and a drive is
ready (if it is in alarm state – scanning won't start).
• Set „Ampl." Slider to 1 value and „Phase" to 0.
•
Click „Scan" button and wait until the scanning is finished.
2. Amplitude and phase tuning (the hardest stage that requires a bit of "sense").
• We find at what velocity there is resonance – small vibrations of a motor. For that
we can use JOG function – we set small acceleration value and during the
acceleration try to hear or even touch a machine (touch only in the place where is
no risk of crushing!).
•
In motion at the resonance velocity we regulate "Phase" with the slider to get as
small vibrations as possible. The best way is to test it at both-sides motion so the
motor rotates alternately right and left (you can use "Motion planner" function in a
JOG window).
•
As we have found optimal position of the "Phase" slider we can try to decrease the
amplitude to get the smoothest motion.
(further description- next page)
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