Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 89)

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Firmware 1.37 - 09/2006 89
9400 HighLine | Parameter setting & configuration
Motor interface
Extended commissioning | Optimise speed controller
Using the ramp response for setting the speed controller
When operation of the mechanics at the stability limit is not possible, the ramp response
can be used for setting the speed controller. The proceeding is similar to optimising the
current controller.
M
How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the
Oscilloscope .
(C 416)
• Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
2. Evaluate the ramp response:
• Solid line = ramp response (actual speed value)
• Dash line = Speed setpoint
3. Change the gain Vp under C00070 and the reset time Tn under C00071 .
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
5. Save parameter set (
C00002 = "11").

Stop!
If the controller parameters are preset unfavourably, the control can tend to
heavy overshoots up to instability!
• Following and speed errors can adopt very high values.
• If the mechanics is very sensitive, the corresponding monitoring functions
must be activated.
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t
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Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
Tn
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Tn
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Tn
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opt.