Lenze E94P PositionServo with MVOB Manual de usuario descargar pdf (Pagina 5)

S94H201E_13426446_EN L 3

Contents

5.9 Compensation .............................................................56

5.9.1 Velocity P-gain (proportional)............................................ 56

5.9.2 Velocity I-gain (integral)................................................56

5.9.3 Position P-gain (proportional) ...........................................57

5.9.4 Position I-gain (integral) ...............................................57

5.9.5 Position D-gain (differential) ............................................57

5.9.6 Position I-limit....................................................... 57

5.9.7 Gain Scaling Window.................................................. 57

5.9.8 Disable High Performance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

5.9.9 Auto Tuning.........................................................57

5.9.10 Set Default Gains.....................................................58

5.9.11 Feedback and Loop Filters..............................................58

5.10 Tools ....................................................................59

5.10.1 Oscilloscope ........................................................59

5.10.2 Parameter & I/O View .................................................60

5.11 Faults.................................................................... 61

5.12 Monitor ..................................................................62

6 Operation ......................................................................63

6.1 Minimum Connections .......................................................63

6.2 Ethernet Connection ......................................................... 63

6.2.1 PositionServo Ethernet Port Conﬁguration ..................................64

6.2.2 Conﬁguring the PC IP Address (Windows XP) ................................ 66

6.2.3 Initial Connection to the Drive ...........................................69

6.2.4 Launching MotionView & Communicating to the PS Drive ......................70

6.3 Parameter Storage and EPM Operation...........................................73

6.3.1 Parameter Storage ...................................................73

6.3.2 EPM Operation ......................................................73

6.3.3 EPM Fault ..........................................................73

6.4 Conﬁguration of the PositionServo ..............................................74

6.5 Position Mode Operation (gearing) ..............................................75

6.6 Enabling the PositionServo .................................................... 75

6.7 Drive Tuning............................................................... 76

6.7.1 Auto Tuning the Drive .................................................76

6.7.2 Manually Tuning the Drive in Velocity Mode................................. 77

6.7.3 Manually Tuning the Drive in Position Mode ................................82

6.8 Upgrading Firmware.........................................................87

7 Quick Start Reference ............................................................. 88

7.1 Quick Start - External Torque Mode .............................................88

7.2 Quick Start - External Velocity Mode.............................................89

7.3 Quick Start - External Positioning Mode ..........................................91

8 Diagnostics.....................................................................93

8.1 Diagnostic Display ..........................................................93

8.2 Diagnostic LEDs ............................................................ 94

8.3 Stop/Reset ................................................................ 94

8.4 Faults.................................................................... 95

8.4.1 Fault Codes.........................................................95

8.4.2 Fault Event .........................................................97

8.4.3 Fault Reset .........................................................97

8.4 Troubleshooting ............................................................ 97

1 2 3 4 5 6 7 8 9 10 ... 101 102

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Lenze E94P PositionServo with MVOB Manual de usuario Pagina 5

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