Lenze IMSS500+ Simple Servo 500 600 i1000 - Manual (Page 64)

SimpleServo 500/600/i1000 User Manual Rev 3.4
9.6 Tuning in velocity mode
Note
In this mode the settings for Position compensation have no effect.
Note:
In this mode settings for Position compensation have no effect.
1. Make sure that drive is online (connected).
2. Make sure that the drive is disabled.
3. Select <Parameters> folder from the node tree. Click on <Reference> parameter and change
it to “INTERNAL”. This will tell drive to use internally generated reference controlled by Run
panel tool.
4. Select <Parameters> folder from node tree. Make sure that Enable Accel/Decel limits set to
“DISABLE”.
5. Select <Tools> then <Run Panel > from node tree to bring run panel control.
6. Select <Tools> then <Scope> tool from node tree to engage oscilloscope. Check checkbox
“Always on top”, so MotionView main window doesn’t cover oscilloscope tool.
7. On the Scope tool select:
• Phase current (RMS) as source for Channel 1.
• Motor Velocity as source for Channel 2.
• Timebase: 50mS.
• Trigger: Channel 2, Rising .
• Trigger level 0 Rpm
8. Enable the drive.
9. Set
the Reference slider in the Run panel to a motor test speed of either 250 RPM or 500
RPM. If your motor's maximum speed is less than 5000 RPM, set the slider to approximately
250 RPM. If your motor's maximum speed is greater than 5000 RPM, set the slider to
approximately 500 RPM. The default reference setting is zero. After setting the slider to the
appropriate test speed, the motor should begin to run.
10. Make sure that Enable Reference Sweep check box is checked. The sweep range is 10 -
1000 milliseconds (msec). The default setting is 1000 msec (maximum). Set reference sweep
to 200 mS. By enabling reference sweep, you can generate a bi-polar square-wave DC signal,
which allows you to monitor your motor's behavior when changing direction. Reference
sweep is used in adjusting proportional gain and integral gain.
11. Select <Compensation> then <Velocity Loop filter> from node tree. set P-gain to 100 and I –
gain to 20.
12. Slowly increase P-gain until current waveform grows to maximum value when velocity
changes from negative to positive (or visa versa). See sample waveforms in Section 10.1.
13. Slowly increase I-gain and watch for overshoot on Motor Velocity waveform. Leave it at a level
where overshoot just starts to happening or is very narrow (less then 5mS or less then 3-5%).
If fast acceleration/deceleration in your servo system is not an objective but stiffness at low
velocity or stall torque is you can increase I-gain and allow overshoot caused by excess of I-
gain to approximately 15-20% .
14. Finally, you will need to check the motor Iq current. Set oscilloscope Channel 1 source to Iq
current. Observe current waveform and make sure that there is no significant oscillation.
15. On the Run panel, click the Set to Zero button and disable the drive. The motor will stop.
Disable drive.
16. Optionally select <Parameters> from node tree then set parameter <Reference> to
“INTERNAL” so next time you enable drive it will use analog input for reference.
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