Adjusting the controls requires you to enter particular values for certain operating parameters. The values of the other parameters are defined by the application.
To do this, enter these parameters in the adjustment screens, then confirm in order to send the parameters to the axis control module.
This operation involves entering a forced reference point in Manual mode.
The forced reference point allows there to be a referenced axis from start-up, and thus enables the following checks and functions:
NOTE: Operation will only be correct if the direction of the moving part is the same as that of the measurement.
Forced Reference Point Procedure
To create a forced reference point, carry out the following operations:
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Step
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Action
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1
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Select the TSX CAY Debug screen
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2
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Select Manual mode
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3
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Acknowledge faults using the Ack. command
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4
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Using an external device, measure the position of the moving part in relation to the reference point cam (approximate measurement)
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5
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Create a forced reference point:
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enter the measured value with its sign as the source position value in the Param field,
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select the Forced reference point command.
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Adjusting High-Speed Gain
To determine the value of the Gain 2 parameter, carry out the following operations: It is assumed that the moving part has an inertia equal to the maximum value encountered in the application.
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Step
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Action
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1
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Make movements from position 1 to position 2 and vice versa. To do this:
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select an average speed, using the speed parameter in manual mode,
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enter the movement value in the Param field,
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activate the Inc+ (position 1), then Inc- (position 2) commands in succession,
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2
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Check following error when the moving part is at a stabilized speed.
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3
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Adjust Gain 2 for an acceptable deviation, while maintaining an appropriate stability (otherwise, check the machine definition). For each new Gain 2 value entered, use the same value for Gain 1 and transfer by confirming at the adjustment screen
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To determine the value of the Gain 1 parameter, carry out the following operations: This adjustment must be made for machines that involve friction. Otherwise, retain the value of Gain 2 for parameter Gain 1. To obtain greater gain at low speed, set Gain 1 to a value greater than Gain 2 then transfer the values by validating the adjustment screen:
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Step
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Action
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1
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Make movements from position 1 to position 2 and vice versa. To do this:
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select a very low movement speed: by choosing a low CMV coefficient value,
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enter a low movement value in the Param field,
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activate the Inc+ (position 1), then Inc- (position 2) commands in succession,
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2
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Check following error when the moving part is stationary
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3
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Adjust Gain 1 for an acceptable deviation, while maintaining an appropriate stability. For each new Gain 1 value entered, transfer by confirming at the adjustment screen
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Adjusting the Gain Threshold
The gain threshold must be set at a speed which overcomes friction.
Adjusting Feed Forward Gain
Perform the following to determine speed feed forward gain:
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Step
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Action
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1
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Make movements at speed VMAX from position 1 to position 2 and vice versa. To do this:
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select a high movement speed: while choosing a high CMV coefficient value,
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enter a movement value in the Param field,
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activate the Inc+ (position 1), then Inc- (position 2) commands in succession,
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2
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Adjust the feed forward for the value and sign of the error required
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NOTE: If the overshoot is too large, you may wish to reduce feed forwardslightly.
When the moving part is stationary, select loop control disabled mode DIRDRIVE.
Adjust the offset in the window from –250 mV to +250 mV to cancel out any slipping of the moving part.
Adjusting Integral Action
For a TSX CAY 22/42 or TSX CAY 33 module, integral action is used to compensate for the different offsets in the string (e.g. module, drive, motor, mechanical equipment) as well as drift. The Ti position loop parameter is used to achieve this compensation.
The gain is only active when the axis is theoretically stationary (theoretical speed is zero, following error absorption phase). Is it active in automatic and manual modes in the absence of a blocking fault on the axis (AX_OK=1 ). It is inactive in the automatic modes EXT_CMD and SLAVE.
The principle is to add an additional continuous action, which is updated during stop phases.
The integral action is expressed in ms, in the interval [100, 5000] ms. By default the value 0 indicates that there is no integral action.
