Lenze S94P01G Position Servo - Manual (Page 58)

S94P01G
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Operation
6.5 Enabling the PositionServo
Regardless of the selected operating mode, the PositionServo must be enabled before
it can operate. A voltage in the range of 5-24 VDC connected between P3 pins 26 and
29 (input IN_A3) is used to enable the drive, refer to section 4.1.7, note 3. The behavior
of input IN_A3 differs depending on the setting of “Enable switch function”.
TIP!
If using the onboard +5VDC power supply for this purpose, wire your switch between
pins P3.6 and P3.29. Jumper P3.5 to P3.26. If doing this, all inputs in group A must
be powered by P3.6.
When the “Enable switch function” is set to “RUN”:
IN_A3 acts as positive logic ENABLE or negative logic INHIBIT input depending on:
If user program is not running: Activating IN_A3 enables the drive
User program running:
Activating IN_A3 acts as negative logic
“Inhibit” and operates exactly as if parameter
“Enable switch function” set to “Inhibit” (see below)
When the “Enable switch function’ set to “Inhibit”:
IN_A3 acts as negative logic INHIBIT input regardless of mode or program status.
Activating input IN_A3 doesn’t enables the drive. The drive can be enabled from the
user’s program or interface only when IN_A3 is active. Attempt to enable drive by
executing the program statement “ENABLE” or from interface will cause the drive to
generate a fault, F_36. Regardless of the mode of operation, if the input is deactivated
while the drive is enabled, the drive will be disabled and will generate a fault, F_36.
WARNING!
Enabling the servo drive allows the motor to operate depending on the reference
command. The operator must ensure that the motor and machine are safe to operate
prior to enabling the drive and that moving elements are appropriately guarded.
Failure to comply could result in damage to equipment and/or injury to personnel!
6.6 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. Make sure any user program code previously entered into the [Indexer
Program] folder in MotionView has been saved prior to tuning so it can be easily recalled
after tuning is complete.