00195193-02 SG D4 FSE en (1) - 第160页
Axis dynamic Servo amplifier TBS .. and SDS ... Axis dynamic basics Student Guide SIPLACE D4 (FSE) EN 09/2006 Axis dynamic 147 7.3 - 3: The 2nd overshoot sets the end signal 7.3 - 4: Positioning with asymptotic approa ch…
Axis dynamic
Axis dynamic basics Servo amplifier TBS .. and SDS ...
Student Guide SIPLACE D4 (FSE)
Axis dynamic EN 09/2006
146
7.3 - 2: Positioning with overshoot into target position
During initial positioning into the target position, the actual equals target position signal triggers an
overshoot count in the axis test box (SAT) for calculation of the position deviation signal.
The known ’V nominal ’ speed signal and the ’force’ force limit signal are replaced by motor phase
nominal current signals to the DC respective AC Drive.
NOTE:
The position deviation signal shows the positioning quality of an axis movement
in position.
Axis dynamic
Servo amplifier TBS .. and SDS ... Axis dynamic basics
Student Guide SIPLACE D4 (FSE)
EN 09/2006 Axis dynamic
147
7.3 - 3: The 2nd overshoot sets the end signal
7.3 - 4: Positioning with asymptotic approach after the initial, excessive overshoot
The positioning shown above demonstrates an excessive overshoot. However, no other overshoot
occurs during this positioning process, which could create an end signal. The axis controller has a
’backup strategy’. When the permitted position deviation range is reached, a 10ms timer is started. 10
ms after entering the permissible position deviation range (1) (5 digits) the timer triggers the end signal
(2). The permitted range must not be left during this period.
Axis dynamic
Axis dynamic basics Servo amplifier TBS .. and SDS ...
Student Guide SIPLACE D4 (FSE)
Axis dynamic EN 09/2006
148
For assessment of the axis dynamics by a service technician, the system generates an uncommutated
current target signal from all motor current target signals. This informs you about the mechanical friction
in the axis system. This can be measured on the adapter board of the axis test box or at the Vreg output
of the SIPLACE axis tester (SAT).
The uncommutated target current signal is an envelope signal for the 2 visible motor current target
signals from the axis controller. The missing 3rd motor current signal is calculated at the Servoboard.
The known V nominal (V-target) speed signal and the force signal have been replaced by the motor
current target signals for DC or AC drives.
7.3 - 5: The uncommutaded nominal current signal (3) and the motor current signals (1) (2) of a AC Motor
The acceleration section can be recognized in the motor current target signal of the AC motor (4), due
to the high amplitudes needed to supply the axis mechanics with sufficient force. The frequency of this
signal section is low, due to the low speed. The amplitude becomes lower and lower because the
necessary motor force is reduced with increasing speed.
The frequency becomes higher because the speed of the motor is increased to a maximum for the
constant speed section (2).
In the deceleration section, the amplitude increases again, to reduce the speed of the axis mechanics.
The frequency become lower and lower (3). Finally, the axis is moved into the correct target position,
with overshoot control.
NOTE:
These motor current signals can be measured at the V nominal and the Force
output of the axis tester. The same signals are measured at the two topmost test
points of the servo amplifier board, as Inom. U’ and Inom. W signals.