Beckhoff AX5000 Tuning Manual
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Also See for AX5000:
- Function manual (94 pages) ,
- Manual (49 pages) ,
- Startup manual (46 pages)
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Summary of Contents for Beckhoff AX5000
- Page 1 Dokumentation AX5000 Tuning - Guide Version: Date: 2017-03-01...
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Page 3: Table Of Contents
Determining the stability limit for Kp .................... 8 Setting up TwinCAT Scope View.................... 8 Starting the test movement...................... 9 Evaluating the oscilloscope pattern .................... 10 Reducing Kp .......................... 10 Determining Tn .......................... 10 4 Support and Service.......................... 11 AX5000 Tuning - Guide Version: 1.0... -
Page 4: Foreword
EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. -
Page 5: Documentation Issue Status
Foreword Documentation issue status Version Comment First Edition internal Version AX5000 Tuning - Guide Version: 1.0... -
Page 6: Safety
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards. -
Page 7: Tuning Velocity Controller (Ziegler&Nichols)
For the tuning process the axis must be able to move in both directions, without reaching the mechanical end stops. For example, it should be pushed manually to the center of the travel path. In most cases the AX5000 operates in mode "11: Position control feedback 1". In order to eliminate the influence of the position controller, Kv should be 0 for the tuning process in the position controller. -
Page 8: Determining The Stability Limit For Kp
The axes are then shown one below the other. Add the "Torque feedback value" (S-0-0084), the velocity command value and the actual velocity value (P-0-0504 and S-0-0040) to the AX5000 process data. In the process image of the EtherCAT master activate the ADS server and the symbol generation facility. -
Page 9: Starting The Test Movement
"Idle time", for example, and a number of cycles. Nature and source of the danger Since the position controller and the integral component of the velocity controller are not active, the axis may drift into another positioning range during reversing. Attention AX5000 Tuning - Guide Version: 1.0... -
Page 10: Evaluating The Oscilloscope Pattern
Values ≤ 5 ms are not required in most appli- Attention cations. With elastic coupling between engine and load or even with long straps it may be useful for Tn Values> 10 ms. Swinging of the axis is thereby prevented. Version: 1.0 AX5000 Tuning - Guide... -
Page 11: Support And Service
Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.