Operation, 7 drive tuning, 1 auto tuning the drive – Lenze E94P PositionServo with MVOB User Manual
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S94H201E_13426446_EN
Operation
6.7
Drive Tuning
The PositionServo Drive will likely require some tuning of its gains parameters in order to achieve best
performance in the application in which it is being applied. Only when the drive is placed in Torque Mode are
the gain values not required to be tuned. The table herein lists the gains parameters that should be adjusted
for each of the drive operating modes. These parameters are found within the ‘Compensation’ folder.
MotionView Parameter
Torque Mode
Velocity Mode
Positioning Mode
Velocity P Gain
No
Yes
Yes
Velocity I Gain
No
Yes
Yes
Position P Gain
No
No
Yes
Position I Gain
No
No
Yes
Position D Gain
No
No
Yes
Position I-Limit
No
No
Yes
Gain Scaling
No
Yes
Yes
Before using the tuning procedures detailed in the next sections, ensure that the system is in a safe condition
for tuning to be carried out. It is often beneficial to first tune the motor off-load to obtain approximate gains
setting before fine tuning in the application.
Check that the drive output to the motor is disabled (via Input A3) and that the drive is powered up. Save any
user program code previously entered into the [Indexer Program] folder in MotionView prior to tuning so it
can be recalled after tuning is complete.
WARNING!
During both the Velocity and Position tuning procedures the PositionServo drive will perform rotation
(motion) of the motor shaft in the forward and reverse directions at velocities based on the user
settings. Ensure that the motor and associated mechanics of the system are safe to operate in the
way specified during these procedures.
6.7.1
Auto Tuning the Drive
PositionServo drives with hardware revision 2 and higher feature Auto Tuning. To Auto Tune the drive,
disable the drive. Ensure that the Indexer program is not running. Select the {Compensation] folder in the
navigation tree. De-select [Disable High Performance Mode] and select [Auto Tuning]. The velocity and
position loops can be tuned either individually or together.