Lenze S94P01G Position Servo - Manual (Page 66)

S94P01G
64
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
= “Position Error”
Scale = as appropriate to the Error that results once the TuneP program is run.
Channel 2:
Signal
= “Target Position”
Scale = as appropriate to the position move generated by the TuneP program
Timebase: = as appropriate to the “Period” of the moves being generated.
Trigger:
= Channel 1, Rising Edge.
Level: = 10 Pulses
6) Compensation Folder
Open the [Compensation] folder in MotionView.
Leave the Velocity P-Gain and Velocity I Gain unchanged, as they should already have
been setup during velocity tuning. Do not adjust the Gain Scaling Parameter during this
procedure.
Set the [Position P-gain] to a low value (e.g. 100) and set the [Position I-Gain] and
[Position D-Gain] to 0.
7) Gain Tuning
The system should now be ready to start tuning the position loop. Start the Oscilloscope
by clicking [Run]. Apply the Enable input A3 to enable the drive.
The general goal in tuning the position loop is to achieve the minimum position error
while maintaining system stability. Some experimentation with gain values will be
required to achieve the best performance for the application.
Step 1: Setting the Position P-Gain
Slowly increase the Position P-Gain while watching the position error waveform on
oscilloscope Channel 1. It is important to watch both the Max Error as well as the
Average Error. While increasing Position P-gain, it should be apparent that both the
Max Error as well as the Average Error decrease.
Position P-Gain set too LOW
Large Position Error occuring and large error
in final positioning achieved