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Granite Devices GDtool 0.11 Manual

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GDtool 0.11 manual
GDtool 0.11 manual
Document version 0.31
www.granitedevices.fi
1/19
2007-04-27

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Summary of Contents for Granite Devices GDtool 0.11

  • Page 1 GDtool 0.11 manual GDtool 0.11 manual Document version 0.31 www.granitedevices.fi 1/19 2007-04-27...

  • Page 2: Table Of Contents

    GDtool 0.11 manual Table of Contents Introduction............................3 Requirements............................3 Cabling..............................3 Installing software..........................4 Introduction to servo system........................4 Getting started with GDTool........................6 Description of basic functions......................6 Configuring motor parameters........................ 7 Position or velocity tuning........................11 Tuning the position mode........................13 Tuning the velocity mode........................

  • Page 3: Introduction

    GDtool 0.11 manual Introduction GDTool software allows you to set VSD-A drive control loop parameters to match your control system. You don't need additional hardware (oscilloscope for example) to get essential information because GDTool reads data directly from drive and plot's it to your PC screen.

  • Page 4: Installing Software

    GDtool 0.11 manual Installing software 1. Download latest GDtool binary from products/downloads section of www.granitedevices.fi Direct link: http://www.granitedevices.fi/pub_files/bin/GDTool.exe 2. Run installer with your preferred settings Introduction to servo system VSD-A firmware uses closed-loop system with negative feedback. Closed-loop system (servo system) means that the result (feedback) is subtracted from the command value, to achieve proper control value so that the command value matches to the measured value (encoder signal).
  • Page 5 GDtool 0.11 manual Input value of PID controller is the error value (difference). PID controller uses following formula to calculate output: ∗de ∫ u t=K e t ⋅e tK ⋅ u, output e , difference Kp, gain factor of proportional part...

  • Page 6: Getting Started With Gdtool

    Getting started with GDTool 1. Check cable connections and enable logic supply Warning! Do not enable high voltage supply before setting correct motor parameters! 2. Check that drive's led indicates power 3. Start program from start Programs Granite Devices GDTool → → →...

  • Page 7: Configuring Motor Parameters

    GDtool 0.11 manual Configuring motor parameters Choose motor page. First thing is to set motor parameters correct. If you are uncertain about your motor values please contact to your motor supplier before continuing. Motor type Choose motor type. 3 phase brushless motor (AC) or direct current (DC) motor.
  • Page 8 GDtool 0.11 manual 1. After adjusting correct settings press “Load and save to drive” button to save values. 2. Drive's red led should be on and green blinking. This is the permanent stop status. 3. Switch power off. 4. Switch on high voltage supply and logic voltage supply 5.
  • Page 9 GDtool 0.11 manual Figure 7: Current response test plot, P-gain tuning Second, start increasing I-gain and decreasing P-gain to get minimal overshoot but still reach the target Figure 8: Plot, properly tuned current loop www.granitedevices.fi 9/19 2007-04-27...
  • Page 10 GDtool 0.11 manual 7. When finished you can save the configuration to drive by choosing “Save to drive” menu item from Device menu. Figure 9: Save currently active settings to drive www.granitedevices.fi 10/19 2007-04-27...

  • Page 11: Position Or Velocity Tuning

    GDtool 0.11 manual Position or velocity tuning 1. Depending from your application you should choose drive to be in position or velocity mode. Choose the proper mode using Position/Velocity loop tuning section. Figure 10: Position and velocity tuning www.granitedevices.fi 11/19...
  • Page 12 GDtool 0.11 manual Position mode Set position mode enabled Velocity mode Set velocity mode enabled P gain Gain factor of proportional part of PID-controller I gain Gain factor of integral part of PID-controller D gain Gain factor of derivation part of PID-controller...

  • Page 13: Tuning The Position Mode

    GDtool 0.11 manual Tuning the position mode 1. Choose position mode from switch box 2. Set I-gain and acceleration feed forward to zero 3. Set Acceleration limit to quite a low [5 – 20] at beginning. Other values can be left in default values 4.
  • Page 14 GDtool 0.11 manual Figure 12: Plot, properly tuned position response Note that too tight settings can cause system to be unstable and cause oscillation to output. Figure 13 illustrates an example of too high d-gain value Figure 13: Plot, too high D-gain causes high frequency oscillation www.granitedevices.fi...

  • Page 15: Tuning The Velocity Mode

    GDtool 0.11 manual Tuning the velocity mode 1. Choose velocity mode from switch box 2. Set I-gain and acceleration feed forward to zero 3. Set step response travel value to 20 – 60 4. Set P-gain to low value 5. Press “Load to drive” button Figure 14: Velocity mode values www.granitedevices.fi...
  • Page 16 GDtool 0.11 manual From the following picture we see that gains are too low. Start increasing P-gain until measured value reaches the command value. After that increase I-gain. Figure 15: Speed response plot, low gains www.granitedevices.fi 16/19 2007-04-27...
  • Page 17 GDtool 0.11 manual The result should be something like this, of course depending on your system. Figure 16: Plot, Optimized gains for speed mode If you set too high step response travel value the following output may occur. Try decreasing travel value.

  • Page 18: Flasher

    GDtool 0.11 manual Flasher Flasher tool is used to upgrade or downgrade firmware. Latest firmware can be found from downloads section of Granite Devices website. Using flasher: 1. Set CLR jumper on (see VSD-A data sheet) 2. Enable logic supply. No HW supply needed 3.

  • Page 19: Troubleshooting

    GDtool 0.11 manual Troubleshooting “ERROR: Unable to communicate with drive” Check cabling and try reconnecting from Device menu. “ERROR: Checksum error” Try to restart drive and GDtool software. Follow error Choose Device→Clear faults menu item to clear error state Questions or problems? Contact support@granitedevices.fi...

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