Tuning

Overview Basic Tuning Difference between commutation methods Use of digital filters Vertical axis – no brake Overview 2

For „simple“ axes, start with Quick Tuning For „complex“ axes, start with Expert Tuning Basic Tuning 3

For „simple“ axes, start with Quick Tuning There‘s not alot to do… At the end you should get this message Quick Tuning 4

After Quick Tuning you can switch to Expert Tuning All calculated data still exists Quick Tuning -> Expert 5

Here you can manually adjust or repeat every tuning step Quick Tuning -> Expert 6

For „complex “ axes you should start with Expert Tuning Here you have to accompany every step If you don‘t change anything and keep clicking „Ok“, then you have the same result as with Quick Tuning Expert Tuning 7

Adaptation of current limitation Limits on speed and position Modulo Position error monitoring Motor Stuck protection Input / Output configuration Control loop filters Expert Tuning -> When? 8

Overview Basic Tuning Difference between commutation methods Use of digital filters Vertical axis – no brake Overview 9

Absolute Stepper Binary Search Digital Halls Commutation modes 10

Absolute The motor is set to electrical zero during commissioning The value of the absolute encoder is stored When turning on, the drive can calculate the motors‘ current electrical angle any time Full torque immediately upon switching on No movement necessary Commutation modes 11

Stepper Commutation The rotating field is slowly being moved under rated current The drive expects the rotor to be set to zero under rated current „Large“ motion necessary at every cold startup Only „Open Loop“ torque available for first motion High friction or load leads to angle error (cosine) Commutation modes 12

Stepper Commutation Commutation modes 13

Binary Search The position response is „tested“ using several different current vectors Small and short movements are observed on the rotor Based on the resulting motion the ideal current vector offset is calculated „Small“ movements with every cold start High friction leads to angular errors (cosine) Commutation modes 14

Binary Search Commutation modes 15

Digital Hall The motor is run in block commutation The rotor position is known as soon as any hall edge is detected The drive to sine commutation (leap in angle of current vector) after 60° electrically at most No movement needed for cold start Relatively high torque of block commutation available at startup Commutation modes 16

Digital Hall Commutation modes 17

Overview Basic Tuning Difference between commutation modes Use of digital filters Vertical axis – unbraked Overview 18

What can be filtered? Input filter in encoder system Output of the position control loop Output of the velocity control loop Pre-filter for current control loop Analog inputs Speed indication … Digital Filters 19

What type of filters? FIR Filter with variable depth, Sliding Average 2nd order low-pass filter Notch / Anti-Notch Lead / Lag Filter General biquadratic filter Digital Filters 20

Digital Filters FIR Filter Feedback Settings 21

Digital Filters Low-pass filter 22

Digital Filters Notch Filter 23

Digital Filters Anti-Notch Filter 24

Digital Filters Lead Filter 25

Digital Filters And many more… KV[n] Parameter in Command Reference Guide Some filters are not available in EAS II, but can be set manually Velocity Presentation Velocity External Reference Accelleration External Reference General Biquad … 26

Overview Basic Tuning Difference between commutation modes Use of digital filters Vertical axis – no brake Overview 27

Szenario A braked axis under gravity or partial load needs to be commissioned Brake is connected to the drive Brake will be opened when motor phases are energised During commissioning commutation needs to be established to create torque Unbalanced / Vertical Axis Tells EAS to control break in „unusual“ way, or rather having to work partly in stepper mode Vertical Axis 28

Axis Configuration Pick Brake and Unbalanced Brakes Assign Digital Output Vertical Axis 29

Curent Identification Pick Unbalanced Now the brake will not be opened when the experiment begins In order to determine the parameter of the current controller, the axis does no need to move Vertical Axis 30

Commutation Pick Unbalanced Click on Hold In stepper mode, the power is increased to the hold value before the brake opens Run Commutation Vertical Axis 31

Power Vertical Axis 32

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