Download Panel Mount, Digital Motor Controller

SECTION FOUR – CONFIGURATION AND TUNING
146
4.1.13.4
LIMIT SWITCHES
If the drive system has limit switches connected configure them as follows:
FIGURE 4.39 Limit Switches Dialog Box
q Limit Switches Disabled: Check box to disable limit switch inputs.
q Quick Stop Deceleration Rate: If limit switch inputs are enabled this variable
determines the rate at which the drive decelerates the motor after a limit switch is
tripped.
4.1.13.5
TUNING
In the Tuning dialog box select Torque or Velocity Mode based on the systems
operating mode. Based on your selection go to the corresponding tuning mode section
below.
4.1.13.5.1
BASIC VELOCITY MODE TUNING
This section provides a recommended velocity mode standard tuning procedure for use
with WinDrive. The procedure should be followed in the sequence listed below:
NOTE
The two principle parameters affecting the velocity loop dynamics are
the Velocity Loop Proportional Gain (P) and the Integral Time Constant
(I).
The proportional gain term P acts on the measured velocity error, which
is the difference between the requested velocity and the actual velocity.
High P gain gives the system a faster response and tighter velocity
control, but if the gain is set too high the system may become unstable.
For best results the P gain should be set as high as possible without
inducing severe overshoot or oscillation.
The Integral Time Constant I sets the gain for the integral term in the
velocity error compensation. Integral gain is used to remove any steady
state error. Integral gain also provides disturbance rejection or ’stiffness’
in the motor’s reaction to an external torque load.
MOOG
T164 SERIES USER’S MANUAL