ABB 086351-004 Industrial card

Adjusting the tuning parameters is required when using servo motors (standard or sinusoidal commutation). The system compensation provides fast and accurate response and the following presentation suggests a simple and easy way for compensation. More advanced design methods are available with software design tools from Galil, such as the Windows Servo Design Kit (WSDK software ) The filter has three parameters: the damping, KD; the proportional gain, KP; and the integrator, KI. The parameters should be selected in this order.For more damping, you can increase KD (maximum is 4095). Increase gradually and stop after the motor vibrates. A vibration is noticed by audible sound or by interrogation.

As the proportional gain is increased

the error decreases. Again, the system may vibrate if the gain is too high. In this case, reduce KP. Typically, KP should not be greater than KD/4. (When the amplifier is configured in the current mode). Finally, to select KI, start with zero value and increase it gradually. The integrator eliminates the position error, resulting in improved accuracy. Therefore, the response to the instruction TEAbecomes zero. As KI is increased, its effect is amplified and it may lead to vibrations. If this occurs, simply reduce KI. Repeat tuning for the B, C and D axes.

Determine Overall Motor Configuration

 Before setting up the motion control system, the user must determine the desired motor configuration. The DMC-21x3 can control any combination of standard servo motors, sinusoidally commutated brushless motors, and stepper motors. Depending on need, the user can either rely on the optional amplifiers or use the ICM-20100/ICM-20105 to split the signals as required. Other types of actuators, such as hydraulics, can also be controlled, please consult Galil.The DMC-21x3 has been setup by the factory for standard servo motor operation providing an analog command signal of +/- 10V. No hardware or software configuration is required for standard servo motor operation.