BENTLY 169253-01 Pulse output card

With the motor enabled and holding zero speed, slowly increase KVP. Monitor current feedback with the softscope. When the current begins to oscillate > 5% of the drive IPeak, capture the waveform and disable the drive. Now measure the positive peak to next positive peak cycle time (Tc) of the current feedback waveform (Frequency = 1/Tc). It is easier to count the number of peaks in 10 divisions and divide into total time. This screen capture is not a true representation of the signal waveform due to the sample resolution. However, counting the peaks over 10 divisions shold provide adequate results in most cases.

Procedure 

In this example there is an oscillation of 450 Hz. 1. Set ARF0 = ARF1 = 450 Hz/2.0 = 225 Hz. 2. Monitor current again. If oscillation is gone, increase KVP to excite it again and repeat procedure. If oscillation is the same frequency, reduce ARF0 and ARF1 to reduce the amplitude of the oscillation further. 3. Repeat until the oscillation gets worse, or the oscillation frequency changes to match the filter frequency. In either of these two cases, KVP will need to be reduced and/or ARFs will need to be increased.

Inertia and Bandwidth Overview 

The velocity loop bandwidth (BW) is very useful information when setting KVI and KPP parameters. These parameters are totally dependent on the value of the velocity loop bandwidth. Unfortunately, BW is not readily available. It must be calculated based on the total system inertia. It is the total system inertia value that is the most difficult number to acquire. Once the inertia is known, the BW equation is easy to solve.

                                                                        

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