Methods Of Updating Pid Buffers - Control Techniques M'Ax 403 User Manual

*
Procedure
1. Ensure the Hardware enable contact is open or that parameter 6.15
Drive enable is set at 0 to disable the Drive.
2. Connect the AC supply to the Drive.
3. Version _ AN : Check the display indicates inh .
4. Version _ SL : Send a read-command to check that parameter 8.09
{ 0.01 } Hardware enable status is set at 0 .
5. Unlock security (see Security and Accesssing the Advanced
Parameters on page 42).
6. Check the setting of 5.34 { 0.11 } Inertia units selected. The settings
indicate as follows:
5.34 Units
2
0
kgm
2
1
kgcm
7. Calculate the load inertia to be experienced by the motor in kgcm
2
kgm , as defined in step 6.
8. Ensure 3.16 { 0.12 } Speed-loop gains selector is set at 1 in order to
select PID-gains set 1 in the Drive and PID-buffer 1 in the SLM . (If a
different PID-gains set is to be adjusted, set 3.16 { 0.12 } accordingly;
see Gain sequencing on page 96.)
9. Enter the required value of stiffness angle (in degrees and decimals
of a degree) into parameter 3.19 { 0.09 }.
10. Version _ AN : If the display does not indicate the required range,
change the setting of 5.54 Inertia range select as follows:
2
5.54
kgcm
0 0.1 ~ 6000.0
1 0.01 ~ 600.0
11. Enter the value of load inertia (calculated at step 7) into parameter
3.20 { 0.10 }.
12. Set parameter XX.00 at 3000 to initiate calculation of the PID gains.
13. Execute the operation by performing either of the following:
• While the display is in Edit mode, press at the same time:
and
• Set parameter 10.38 at 100 (via serial communications)
The PID gains are now calculated by the Drive and saved or stored, as
appropriate.
14. To save the new PID-gains values, perform the following as
appropriate:
Version _AN
Initiate the save operation by setting parameter XX.00 at 1000 .
Execute the operation by performing either of the following:
• While the display is in Edit mode, press at the same time:
and
• Set parameter 10.38 at 100 (via serial communications)
Version _SL
Version _AN (if required)
Ensure the Drive is disabled by checking that the Hardware enable
contact is open or that parameter 6.15 is set at 0 , then perform either
of the following:
• Initiate the store operation by setting parameter 0.50 at 2 ( Prog ).
Execute the operation by setting parameter 10.38 at 100 .
• Set 11.67 Flash update enable at 1 .
Following power-up, new PID-gain(s) value(s) take
effect only after the motor shaft has passed through the
zero position of the feedback encoder.
CAUTION
94
2
kgm
0.00001 ~ 0.6 Default
0.000001 ~ 0.06
Testing the system
1. Close the Hardware enable contact or set parameter 6.15 at 1 , and
test the system.
2. If mechanical resonances are affecting the performance of the
system, open the Hardware enable contact. Reduce the value of
4.12 { 0.16 } Current-demand filter 1 cut-off frequency, then repeat
steps 10 to 15 of the procedure. Repeat this step as required.
3. Open the Hardware enable contact or set parameter 6.15 at 0 .
4. Lock security.
D.4

Methods of updating PID buffers

Updating the SLM while values are being changed
1. Use 3.16 { 0.12 } Speed-loop gains selector to select the required
PID-gains set in the Drive and PID buffer in the SLM .
2. Set 11.64 { 0.17 } SLM online enable at 1 .
2
or
3. Change the values of the PID-gains parameter(s), as required.
4. When adjustments are completed, set 11.64 { 0.17 } SLM online
enable at 0 . Do not leave this parameter set at 1 .
Updating all values
All values in all the PID buffers (see Gain sequencing on page 96) in the
SLM are updated when the AC supply is removed and re-connected.
M'Ax User Guide
Issue Number: 4