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

2. Auto Tuning
Tipps and Tricks

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

4. 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

5. 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)

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

7. Manual Tuning
Tipps and Tricks

8. 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

9. 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

10. And now…. Try it!!!

11. 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 [Counts] -->MOTOR.phase [Counts] -->

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