Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 196)

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Initial Test Settings

When running the tests outlined in this section, the motor and drive must be operational so you will need to enter starting

values.

If your application has less than a 10:1 inertia mismatch, the default parameter settings will be acceptable. If the inertial

mismatch is greater than 10:1, use the following table for initial parameter settings.

Determining Friction

This parameter represents friction that increases proportionally as motor velocity increases. The viscous friction of your

system can be determined by reading the percent of continuous torque required to operate the loaded motor at two different

speeds.

Consider the following before determining the Friction:

• The most consistent readings can usually be obtained at motor speeds higher than 500 RPM but lower test speeds can be

used if necessary.

• If your application has travel limits, it may be helpful to use an external position controller to prevent the axis from

exceeding the machine limits. Set up a trapezoidal profile as shown.

• In the procedure below, the Torque Command and Velocity Feedback parameters can be measured using the drive’s

analog outputs, PowerTools software or an FM-P.

• With vertical loads the test readings must be taken while traveling in the same direction.

• An oscilloscope may be needed for systems with limited travel moves to measure the rapidly changing torque and velocity

signals.

• If your system’s friction changes with operating temperature, perform this procedure at normal operating temperature.

Procedure for Determining Friction:

1. Run the motor at the low test speed (at least 500 RPM).

2. While at speed, note the Torque Command Actual value (TCL).

Note

If the friction loading of your system varies when operating at constant speed, due to a load or spring load that changes

as the motor rotates, use the lowest value measured.

3. Repeat Step 1 using a velocity at least two times the low speed.

4. While at speed, note the Torque Command Actual value (TCH).

5. Use the following formula to calculate the friction:

Where:

= Torque Command Limited value at higher speed

= Torque Command Limited at lower speed

RPM

= Higher RPM (velocity)

Parameter Setting

Friction 0.00

Inertia Ratio 1/3 to 1/2 Actual

Response 500/Inertia Ratio

High Performance Gains Disabled

Feedforwards Enabled

Line voltage Actual Applied

CLCH

RPM - RPM

)T - (T

FV )100(=

1 2 ... 191 192 193 194 195 196 197 198 199 200 201 ... 239 240

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