gefran ADV200 User Manual page 32

- Let master motor rotate at fixed speed, slave engaged to master.
- Set maximum allowed value for warning and alarm thresholds of slave position error (IPA 11212,
11214).
- Monitor slave speed and position error IPA 12004 Error Pos: starting from default value, set feed-
forward gain in a way to get position error as much limited as possible, at least with the lowest
variation speed.
- Set PID gains and monitor slave position error also during master speed changes; position error
must be limited to pre-defined band during all dynamic conditions.
- Set warning and alarm thresholds of slave position error at values compatible with position error
band.
- Connect motors to driven mechanics.
- Reset slave position error of slave in relation to master (acitvate command assigned by IPA 11448
Engage Rst Src).
- Engage slave to master.
- Check gear ratio setting; adjust by slip setting if required.
- Repeat dynamic tests to make sure PID gains are correct
Tuning procedure can be performed also with motors already connected to driven mechanics, if this is
possible without damaging mechanical components.
User Guide Electrical Line Shaft for ADV200
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