Lenze S94P01B2 - Manual (Page 52)

S94P01B2
50
Operation
4) Compile and Download Indexer Program to Drive
In the [Indexer program] folder in MotionView, select [Compile and Load with Source]
from the pull down menu. The TuneV program will be compiled and sent to the drive.
Select [Run] from the pull down menu to run the TuneV program. Do NOT enable the
drive (via input A3) at this stage.
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.