Lenze S94P01B2 Manual de usuario descargar pdf (Pagina 59)

S94P01B2

Operation

Increased Position P-Gain

Shows improvement to the maximum error

and the ﬁnal positioning accuracy

At some point while increasing the P-Gain, additional oscillations (Average Error) will

start to appear on the position error waveform.

Further Increased Position P-Gain

Shows very good reduction to the maximum

error but with additional oscillations starting

to occur.

Step 2: Setting the Position D-Gain

Slowly increase the D-Gain while watching the position error waveform on oscilloscope

Channel 1. As the D-Gain is increased, the position error oscillation caused by the

P-Gain, should start to decrease. Continue to increase the D-Gain until oscillation is

gone or until D-Gain is no longer having any apparent effect.

Adjustment of Position D-Gain

in conjunction with the P-Gain dampens

out additional oscillations while improving

position error.

For optimum tuning, it is sometimes required to repeat the process of increasing the

P-Gain until a slight oscillation occurs and then increase the D-Gain to suppress that

oscillation. This procedure can be repeated until the increasing of D-Gain has negligible

effect on the position error waveform.

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Lenze S94P01B2 Manual de usuario Pagina 59