Lenze E94P PositionServo with MVOB Instrukcja Użytkownika Pobierz pdf (Strona 85)

S94H201E_13426446_EN L 83

Operation

3) Editing the Position Tuning Program

The Tune Position Program performs trapezoidal moves in the forward and reverse direction separated by

a deﬁned pause (or time delay).

The Accel, Decel, and MaxV variables within the TuneP program deﬁne the ramps and steady state velocity

that will be used to execute the motion commands.

ACCEL = 500 ;500 rps*s Accel = Acceleration speed

DECEL = 500 ;500 rps*s Decel = Deceleration speed

MAXV = 20 ;20 Rps MaxV = Maximum

The size of each move and the pause between the moves is deﬁned in the following lines of code. There are

two moves and pauses for the forward and reverse moves to be performed.

MOVED 0.25 ;move 1 rev MoveD = Move distance

wait time 200 ;wait time to analyze ‘standstill’ stability wait time = Delay period

MOVED -0.25 ;move opposite direction 1 rev

wait time 200 ;wait time to analyze ‘standstill’ stability

Adjust these parameters if required to best suit the application before going to the next step.

4) Compile and Download Indexer Program to Drive

In the [Indexer Program] folder in MotionView, select the [Load W Source] button at the program toolbar. The

TuneP program will be compiled and sent to the drive. Click [Run] on the program toolbar to run the TuneP

program. Do NOT enable the drive (via input A3) at this stage.

5) Oscilloscope Settings

Open the [Tools] folder]in MotionView and select the [Oscilloscope] tool. Click the [Set on Top] box to place

a checkmark in it and keep the scope on top.

In the Scope Tool Window, make the following settings:

Channel 1:

Signal = “Position Error”

Scale = as appropriate to the Error that results once the TuneP program is run.

Channel 2:

Signal = “Target Position”

Scale = as appropriate to the position move generated by the Tunep program

Timebase: = as appropriate to the “Period” of the moves being generated.

Trigger: = Channel 1, Rising Edge.

Level: = 10 Pulses

1 2 ... 80 81 82 83 84 85 86 87 88 89 90 ... 101 102

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Lenze E94P PositionServo with MVOB Instrukcja Użytkownika Strona 85