Lenze E94P PositionServo with MVOB - Manual (Page 83)

S94H201E_13426446_EN L 81
Operation
I-Gain set OK
No error between Commanded steady state
velocity and Actual steady state velocity with
excellent stability.
I-Gain set too HIGH
Additional overshoot and oscillations are
starting to occur. Steady state velocity
regulation
Step 4: Check Motor Currents
Finally check the motor currents on the Oscilloscope. Make the following settings to the oscilloscope.
Channel 1:
Signal = “Phase Current RMS”
Scale = as appropriate to peak current limit set in drive parameters (MotionView)
Timebase: = as appropriate to “Period” value of Indexer Program
Trigger: = Channel 2, Rising Edge
Level: = 10 RPM
Observe the waveforms to insure there are no significant oscillations. Reduce the gains values if necessary.
The current waveform should be showing spikes of current during acceleration / deceleration and steady
state current during any steady state velocity. The maximum value (peak value) of the current waveform
is shown at the top of the oscilloscope screen. This maximum value can be compared to the drive nominal
current and peak current settings to check how much of the motors potential performance is being used and
if optimum performance is being achieved.