Avoid Instability; Tuning Procedure - Parker TQ10X User Manual

Prepare to Disable the Drive Quickly: Wire a normally closed switch between the
ENABLE IN
drive if the system becomes unstable during tuning.

Avoid Instability

After you change current settings, adjust a tuning parameter, or command a move,
closely monitor the motor. If there is any sign of uncontrolled instability, use the
switch described in Step 3 above to quickly disable the drive, and avoid motor
damage.

Tuning Procedure

You will achieve best results by making a short, repetitive test move, using high
acceleration and high velocity. Because you will start with reduced peak current,
the motor may not be able to make the move called for in your application. After
you initially tune the system with the short test move, you can try your actual
application move and choose final tuning values.
Issue a RETURN TO FACTORY SETTINGS command (RFS)
The RFS command will reset the gains to their default values (CDG240, CTG0,
CPG16, CIG2, CIL2, CPE4000)
Decrease CIG
Set the integral gain to zero (CIG0).
Command a Short, Repetitive Test Move
Program the drive to continuously execute a short, repetitive test move. Depending
upon your system's mechanics, the move can be back and forth, or in a single
direction. Program a five second delay between each move. Use a high acceleration,
such as A5000 (or the maximum you expect to accelerate the load); and use a high
velocity, such as V100 (or the maximum velocity you expect to move the load). The
motor may not reach the commanded velocity during the short move; this does not
matter, and will not affect your tuning procedure. An example program is shown
below.
If the mechanics of your system do not permit the moves described above, modify
your test move accordingly.
Observe the Results of the Move
Closely observe the motor shaft and evaluate motor performance at the end of the
move, as indicated by response time, end of position overshoot, following error, and
so on. If the move is successful and your motion requirements are satisfied, you do
not need to adjust tuning parameters or increase peak current any further—you may
proceed to Step 7.
Prepare to disable the drive quickly if the motor becomes unstable!
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input and ground. Use this switch to quickly and reliably disable the
Command Description
CITØ Sets "In Position" time to Ø (very short)
CEW1ØØØ Sets "In Position Error Window" to 1ØØØ (very wide)
LD3 Disable limits (use only if appropriate for your system)
MN Sets positioning mode to preset
A5ØØØ Sets acceleration to 5ØØØ revs/sec
V1ØØ Sets velocity to 1ØØ revs/sec (very high value)
D4000 Sets distance to one rev (for a 1ØØØ line encoder).
LØ Loop continuously
G Executes the move (GO)
T5 Wait 5 seconds at end of move
N Ends the loop
2
(very high value)
Tuning 51