Lenze E94P PositionServo with MVOB Manual do Utilizador descarregar pdf (Página 81)

S94H201E_13426446_EN L 79

Operation

Gain Scaling set OK

Motor Velocity resembles Commanded

Velocity. Motor Velocity is reasonably close

with a slight overshoot.

Gain Scaling set too HIGH

Motor Velocity shows signiﬁcant overshoot

following the acceleration periods.

Gain Scaling set signiﬁcantly too HIGH

Motor Velocity exhibits instability throughout

the steady state Commanded Velocity.

Depending on the system begin tuned, the motor may go from stable operation (little to no overshoot

with stable steady state velocity) to instability (continuous and pronounced oscillations during steady state

command) very quickly as gains scaling is increased. The bandwidth for allowing some overshoot with a

quick settle time may be very small and may only be achieved through adjustment of the Velocity P-Gain, as

described in Step 2. Set the gain scaling parameter to the value preceding that where signiﬁcant overshoot

or continuous instability occurs. With the Gain scaling parameter set move onto tuning the velocity P and

I gains.

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Lenze E94P PositionServo with MVOB Manual do Utilizador Página 81