Baldor FPX A05T Installation & Operating Manual

Contents

Baldor FPX A05T Installation & Operating Manual Manual pdf 91 page image

A-10 Manual Tuning MN1276Pulse Follower Applications (Only used in “pulse follower” applications).Choose TuningSelect the “Manual tune” method as shown in Figure shown in Figure A-9.Position ParametersClick on the “Position Parameters” button. You will see parameters as shown inFigure A-13. Selecting “None Feedforward” allows you to enter Position Gain.Figure A-13 Position Control MenuSelect Velocity feedforward allows you to enter Position Gain and Velocity, aparameter that is proportional to the desired velocity. Increasing this gain,compensates for damping (brings actual velocity closer to desired velocity). It isnot within the servo loop, so it does not effect stability. The adjustable range isfrom 25 to 100%.Select Acceleration feedforward allows you to enter Position Gain and Velocity andAcceleration. Acceleration is a parameter that is proportional to the desiredacceleration. Increasing this gain, compensates for inertia (brings desiredacceleration closer to actual acceleration). It is not within the servo loop, so itdoes not effect stability. Inertia resists acceleration. The adjustable range is from25 to 100%.Initiate MoveTo verify that the parameter values are correct, you must cause the system tomove. This would be accomplished by having the “host controller”, or “indexer”, or“computer” output a string of pulses.During movement, observe the “Monitor” (7--segment display) on the front panel.If a “P” is observed on the Monitor display, the drive is within the “in--position” bandwhich has been set. If a “P” is not observed, then the drive is outside the band, orwindow. This would occur, for example, with a high friction system.Either the gain or feedforward term must be adjusted, or the “in--position” bandmust be opened (until a “P” is observed).Note: To change the “in--position” band or window, you have to choose Setup(from the “toolbar” at top of the screen). In the box, choose “OperationMode”. You will see choices of “general”, “current”, “velocity”, and “pulse”.Select “pulse” tab. This will open the window showing the “following errorlimits”. You may enter and modify (open) the in--position bands.