Table of Contents
Advertisement
5.1.3. Phase 2: Check of the Set Parameters ............................................................................. 28
5.1.3.1. Operation Sequence ......................................................................................................... 28
5.1.3.2. First Steps ........................................................................................................................ 28
5.1.3.3. Check of the Incremental Encoder. ................................................................................... 28
5.1.3.4. Check of the Absolute Encoder ......................................................................................... 28
5.1.3.5. Check that the axis remains stopped and closed in the position loop ............................... 28
5.1.3.6. Check of the manual commands ...................................................................................... 29
5.1.3.7. Check of the axis unit of measure .................................................................................... 29
5.1.3.8. Calibration of the Absolute Encoder .................................................................................. 29
5.1.3.9. Zero Cycle execution ........................................................................................................ 29
5.1.3.10. Detection of the Electronic Limit Switches ..................................................................... 30
5.1.3.11. Zero Cycle repetition ...................................................................................................... 30
5.1.3.12. Check of the Electronic Limit Switches ........................................................................... 30
5.1.3.13. Calibration of the ideal value ........................................................................................... 30
5.1.3.14. Tuning of the Proportional Gain ....................................................................................... 31
5.1.3.15. Tuning of the maximum error for a static positioning ...................................................... 31
5.1.3.16. Tuning of the maximum dynamic error ........................................................................... 31
5.1.3.17. Tuning of the test threshold for a positioned axis ............................................................ 31
5.1.3.18. Automation of the zero cycle procedure ......................................................................... 32
5.1.3.19. End of the operations ...................................................................................................... 32
5.2. Configuration Example for a Linear Moved Axis with an Incremental Encoder ........................ 32
5.2.1. Axis Features................................................................................................................... 32
5.2.1.1. Incremental Encoder ......................................................................................................... 32
5.2.1.2. Motor ............................................................................................................................... 32
5.2.1.3. Motor Reducer ................................................................................................................. 32
5.2.1.4. Axis .................................................................................................................................. 32
5.2.1.5. Requirements ................................................................................................................... 32
5.2.2. Phase 1: Preliminary Calculation of the Axis Parameters ................................................. 33
5.2.2.1. Operation Sequence ......................................................................................................... 33
5.2.2.2. Parameter First Configuration ........................................................................................... 33
5.2.2.3. DltDisp Calculation ........................................................................................................... 34
5.2.2.4. MaxSpd Calculation ......................................................................................................... 34
5.2.2.5. MaxAcc Calculation ......................................................................................................... 34
5.2.2.6. OutNorm Calculation ........................................................................................................ 34
5.2.2.7. Zero Cycle search ............................................................................................................. 34
5.2.3. Phase 2: Check of the set parameters ............................................................................. 36
5.2.3.1. Operation sequence .......................................................................................................... 36
5.2.3.2. First steps ........................................................................................................................ 36
5.2.3.3. Check of the Incremental Encoder. ................................................................................... 36
5.2.3.4. Check that the axis remains stopped and closed in the position loop ............................... 36
5.2.3.5. Check of the manual commands ...................................................................................... 36
5.2.3.6. Check of the axis unit of measure .................................................................................... 36
5.2.3.7. Zero Cycle execution ........................................................................................................ 37
5.2.3.8. Detection of the Electronic Limit Switches ....................................................................... 39
5.2.3.9. Zero Cycle repetition ........................................................................................................ 39
5.2.3.10. Check of the Electronic Limit Switches ........................................................................... 39
5.2.3.11. Calibration of the ideal value ........................................................................................... 40
5.2.3.12. Tuning of the proportional gain ....................................................................................... 40
5.2.3.13. Tuning of the maximum error for a static positioning ...................................................... 40
5.2.3.14. Tuning of the maximum dynamic error ........................................................................... 41
5.2.3.15. Tuning of the test threshold for a positioned axis ............................................................ 41
5.2.3.16. End of the operations ...................................................................................................... 41
4
GEFRAN
------ Instruction manual ------
Advertisement
Table of Contents
