ABB SPNIS21 Voltage output module

Click on Edit Drive Configuration Online button. In the Variables and Parameters window type KVP in the first box, KVI in the second box, KPP in the third box, KVFF in the fourth box, and StartMove in the fifth box.Setup Channel 1 for Velocity Command and Channel 2 for Velocity Feedback. Set the Scales at 200 rpm/div. Set the Trigger to Chn1 rising edge at 100 rpm level. Set the Timebase to 0.02 sec/div.Use the Switch to Variables button to command an index move and the Switch to Scope button to monitor progress.

In the Variables window

change the StartMove variable from 0 to 1 to start a move. This can be mapped as an input, but you can not change it in software if it is mapped. Slowly increase KVP between move commands, using the change button.In the Scope window, monitor Velocity Feedback to see how it follows the command. Look for velocity error at speed changes. Increase KVP to optimize performance and miminize velocity error. If the motor starts to buzz, KVP is too large. Disable the drive and reduce KVP 20%.

You can get more information by monitoring 

Current Feedback instead of Velocity Command. When monitoring current, look for oscillations or spikes that are not related to profile rate changes. If these current oscillations are greater than ± 5% of peak rated current, KVP is too large. Also, if the current is oscillating, it reduces available rated current used to drive the profile. After KVP is optimized, slowly increase KVI up to a maximum of 5. Look for overshoot or oscillation during moves, and reduce KVI if unstable. Then set KVFF = 0 and slowly increase KPP to a maximum of 15. Look for overshoot or oscillation, and reduce if unstable.

                                                                        

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