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The axis must acquire the following values:
Positive direction
+
Mechanical
Minimum
track lower
-250.34
limit
Lower limit switch
Software lower limit switch
0
This can be achieved by setting the BaseOri parameter with a value equal to the one of the Minimum
parameter.
5.1.3.14. Tuning of the Proportional Gain
The value of the position loop gain can be calculated by using the following formula:
PropGain = 2 * * BandWidth (6.28 * BandWidth)
where:
BandWidth, in Hertz, is usually set with values included between 3 and 5 Hz.
A general check of the proportional gain can be performed by setting the axis maximum acceleration value
and by moving the axis at different speeds making sure that no axis oscillation is present. In case of oscilla-
tions, reduce the value of the proportional gain.
5.1.3.15. Tuning of the maximum error for a static positioning
Set this threshold with the maximum allowed positioning error. This value depends on the machine features.
If this threshold is overcome, the positioner generates a serious alarm condition.
5.1.3.16. Tuning of the maximum dynamic error
The dynamic error is given by the difference between the ideal and the real value while the axis is moving.
According to the used control method (without an integrative correction), an error is always present when
the axis is moving.
The maximum dynamic error can be therefore calculated in the following way:
MaxDinErr = MaxSpd * PropGain
If the threshold set by MaxDinErr is overcome, the positioner generates a serious alarm condition.
5.1.3.17. Tuning of the test threshold for a positioned axis
At the end of every movement, the control unit checks that the axis has reached the destination value.
This function can be performed via two parameters:
•
MaxPosErr stating the maximum possible difference between the ideal and the real value.
•
MaxPosTime stating the maximum waiting time for the control unit before the axis is included again in
the positioned axis threshold.
One-axis positioner
Preset = 0
Baseori = - 250.34
Mechanical reference
400
200
600
800
—————— Instruction manual ——————
+1399.66
1000
1200
1400
1600
Mechanical
Maximum
track upper
limit
Upper limit switch
Software upper limit switch
AXIS quota
1650
31
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