BECKHOFF AX2000 - Manual (Page 8)

III.5 Optimizing the position controller
III.5.1 Preparation
ò
ò
ò
ò
ò
ò
ò
ò
ò
OPMODE :
Select OPMODE 8
Position the load in a middle position :
The aim is, to use the JOG MODE function to move the load to approximately the
middle of the motion path.
- Click on the POSITION button
- Click on the SETUP MODE button
- Check that the parameter v (JOG MODE) is set to 1/10 of the
preset speed limit vmax. Alter the value if necessary, and click on APPLY.
- Start the function JOG MODE by using the function key F4.
Now use F4 to move the load to approximately the middle of the motion path.
WARNING :
If the drive moves in the wrong direction, release the F4 function key
and alter the sign of the parameter v. Click on APPLY
and use F4 to move the load to approximately the middle of the motion path.
Set reference point :
- Set the homing type to activate “0, set reference point”.
Start the homing run. The momentary position is set as the reference point.
- Stop the homing run
- Click on the check box “SW-disable” in the amplifier window
Define test motion blocks :
- Click on the POSITION button
- Click on the POSITION DATA button
- Click on the selection list for the motion tasks, and select task 1.
Enter the values from the table below, then select task 2 and
enter the corresponding values.
ò
ò
ò
ò
ò
ò
ò
Task 1 Task 2
units
type
s_cmd
v_cmd_source
v_cmd
t_acc_tot
t_dec_tot
ramp
next motion task
next number
acc./dec.
start condition
APPLY/OK SI
REL setpoint
+10% of total path
digital
10% of vmax
10 * t_acc/dec_min
10 * t_acc/dec_min
trapeze
with
2
to target position
immediately
click SI
REL setpoint
-10% of total path
digital
10% of vmax
10 * t_acc/dec_min
10 * t_acc/dec_min
trapeze
with
1
to target position
immediately
click
Save parameters :
- Click on the button
- Answer the query RESET AMPLIFIER with YES
8 Quick Start
Optimization
06.00
BECKHOFF