Lenze 931E/K Small Drives Control - Manual (Page 147)

Appendix
Parameterisation of outside motors
Setting and optimising the position controller
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147 SW−HB 13.0002−EN 4.1
Optimising the position controller
(
Stop!
ƒ The position controller adjustment requires correct current and speed
controller settings. (See the previous chapters.)
ƒ Please ensure that the motor shaft can freely rotate and the drive will not be
damaged.
For optimising the position controller, proceed as follows:
1. Activate the position controller and set the gain to 0.5.
2. Open the menu for position data record parameter setting. See the chapter
"Parameterising the position sets". ( ¶ 74)
Select the following values for the target position of position sets 0 and 1:
– Target position 0: 10 rev / target position 1: −10 rev
– Traversing speed: (half the rated speed)
– Acceleration: (maximum possible value)
– Deceleration: (maximum possible value)
3. Select the menu items Display
W Oscilloscope to start the oscilloscope. See the
chapter "Using the oscilloscope function". (
¶ 115)
Select the following values:
– Channel 1: Actual speed; scaling = 1000 rev/min / div, −2 div
– Channel 2: Rotor position; scaling = 50
° / div; offset 1 div
– Time base: 100 msec / div; delay = −200 msec
– Trigger: Source = actual speed; level = half the traversing speed; mode = normal,
falling trigger edge
4. Activate power stage enable. Use the Go to destination menu and start positioning
alternately with the targets 0 and 1. See the chapter "Approaching targets". (
¶ 65)
The motor will reverse within the selected limits.
Optimation: Evaluate the speed and the rotor position during stopping. If the transient
reaction of the position takes too long, the gain must be increased. If the speed starts to
oscillate during stopping, the gain must be reduced.
Fig. 30 Optimising the position controller
Please note that the overshoots are due to non−available acceleration and braking times.