Procedure For Checking And Optimizing Performance - Aerotech 6020HRJ User Manual

Installation and Operation
3.5.
The pre-amplifier compensation for the 6020HRJ/8030J has been factory sealed so that a
position loop bandwidth of 10 to 20 Hz is possible when the correct motor and load are
applied. Problems in attaining a stable position loop response are usually a result of poor
velocity loop response where the latter depends predominantly on system inertia, motor
torque constant, and the setting of the GAIN pot R22 (see Section 3.4.2.).
If the required position loop response is difficult to attain after following the procedure in
Section 3.4.2., then compare actual motor load parameters against the following:
If "new" motor and load parameters vary considerably from the above values, use the
following procedure to reselect the pre-amplifier compensation elements:
3-4
6020HRJ/8030J User's Manual

Procedure for Checking and Optimizing Performance

MOTOR TORQUE CONSTANT – "KT" – 28 OZ-IN/AMP
SYSTEM INERTIA (MOTOR and TABLE) – "J" - .4 OZ-IN-SEC
TACH VOLTAGE CONSTANT – 3V/1000 RPM
KT (new) Vtach (new) 1.79 x 10
C6 =
J (new)
R20=
* depending on what input is used for tach
C6 in micro farads
R13, R20 in kilo ohms
J in oz-in-sec
Vtach in volts/1000 RPM
Aerotech, Inc.
-3
(R13 or R10)*
and
5.1
C6
∇ ∇ ∇
2
Version 1.1