Lenze E94P PositionServo with MVOB - Manual (Page 80)

78 L S94H201E_13426446_EN
Operation
5) Oscilloscope Settings
Open the [Tools] folder in MotionView and select the [Oscilloscope] tool. Click the [Set on Top] box to place
a checkmark in it and keep the scope on top.
In the Scope Tool Window make the following settings:
Channel 1: Signal = “Commanded Velocity”
Scale = appropriate to “SpeedReference” value set in Indexer Program
Channel 2: Signal = “Motor Velocity”
Scale = appropriate to “SpeedReference” value set in Indexer Program
Timebase: = as appropriate to “Period” value of Indexer Program
Trigger: = Channel 1, Rising Edge
Level: = 10 RPM
For better resolution, adjust these scaling factors during the tuning procedure.
6) Compensation Folder
In MotionView, open the [Compensation] folder for the drive. Set [Gain Scaling] to a relatively low value, e.g.
-6 for Encoder motor and -8 for a Resolver Motor. Set the [Velocity P-gain] to a mid-value (16000) and set
the [Velocity I-Gain] to 0.
7) Gain Tuning
The system should now be ready to start tuning the velocity gains. Start the Oscilloscope by clicking [Run].
Apply the Enable input to Input A3 to enable the drive. At this point of the procedure it is desirable to have
little to no motion until we start to increase the gain settings. If the motor vibrates uncontrollably disable the
drive, lower the Gain Scaling parameter value and repeat the input enable.
Step 1: Setting the Gain Scaling Parameter
The gain scaling parameter is a ‘course adjustment’ of the other gain’s parameter values. Steadily increase
the value of the gain scaling parameter until a reasonable response is obtained from the motor (motor
velocity starts to resemble the commanded velocity).
Gain Scaling set too LOW
Motor Velocity significantly different than
Commanded Velocity.