Kollmorgen INDUSTRIAL AUTOMATION OVERVIEW AKD Training – Delta Elektronik A/S M. Menning, 28.04.2015

Auto Tuning Tipps and Tricks

Auto Tuner I Autotuning is working within 3 phases: 1.) Autodetection of needed current (pos./neg. friction measurement) 2.) rough tuning 3.) fine tuning

Auto Tuning II Important Settings Acceleration FF: normally not necessary -> in Application commanded via fieldbus often causing resonances Enable Stability Motion: only if mechanic is allowed to do larger forward and backward movement

Problems / hinds Error during friction test Often if you have a system with gearbox Drive cannot detect the right current for Autotuning Set Excitation Level to Manual Select current amplitude according to motor current (try to start with ½ * Motor.Icont)

Faults Drive disabled during FFT data collection Fault message is related to overspeed fault! Increase Velocity max or decrease the cuurent Amplitude!

Manual Tuning Tipps and Tricks

Settings Drive in Torque Mode (if possible) Exciation Level = Manual -> Current Amplitude = ½ * Motor.Icont Measurement = Plant Increase FFT Points and Number Points -> higher resolution of the measurement Plots: only use Simulated Open Loop for Tuning

Gain Margin: ~13 dB For system stability the following two points are important: Gain Margin (Amplitude > 6dB) Phase Margin (Phase > 50 degrees) Phase Margin: ~50 degrees

And now…. Try it!!!

Add. Notes Check motor wiring and feedback counting direction -->MOTOR.POLES 8 -->MOTOR.POLES 0 -->DRV.OPMODE 2 -->DRV.OPMODE 0 -->DRV.EN -->IL.CMDU 3 -->MOTOR.PHASE 150 [deg] -->PL.FB 1445986304.000 [Counts] -->MOTOR.phase 180 1534066688.000 [Counts] -->

W&S important parameter -->WS.TIRAMP 512 [ms] -->WS.TIRAMP 2000 -->WS.TSTANDSTILL 1000 [ms] -->WS.TSTANDSTILL 3000  These settings will influence the ramp and settling time