Dynomotion

Group: DynoMotion Message: 9954 From: isaev_slava Date: 8/12/2014
Subject: setting Z-axis (DC Brush, DAC)

I have linear stage IAI for Z axis with DC Brush servo.It has 40v, 100w, 3000 rpm, with encoder 500 lines per circle and with belt gear 1:2 and ball screw with 16 mm leadservo amplifier AMC 30A8BTmovable weight is 13 kgmaximum speed is 400 mm/sec

1) My encoder is 500 lines but it give 4 counts for each line. I tried to set input gain 0.25, but it seems to me it's more unstable and I set input gain 1.Is it a correct way?2) Z axis is hеavy and it's falls right after brake off. I measured that it starts up, when DAC=-51 and down when DAC=-35, I set offset output to DAC=-43for balance axis. Is it correct way?3) I have question for "lead compansation". In help it's written "Increase motor speed until a drop in torque is first detected", but I can't understand how measuretorque4) And I have a lot of questions about "step response config" may be you have step by step instructions and would you give me a link for it.I tried to do it myself, but it's not good result and still diferent result for same parameters. where do I start? what is the sequence of settings?5) And I have same questions for "IIR Filters"

I suppose, that I am not first who ask these questions and you have a lot answers for it, would you help me with links.Slava

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Group: DynoMotion Message: 9956 From: Tom Kerekes Date: 8/12/2014
Subject: Re: setting Z-axis (DC Brush, DAC) [13 Attachments]
Hi isaev_slava,

Regarding:

#1 we recommend you leave the input gain set at 1 (or -1 if the encoder counts the wrong way).  Tune your system in encoder quadrature counts in KMotion.  For future reference I believe your resolution will be:

500 x 4 x 2 counts / 16mm = 250 counts/mm = 6350 counts/inch

#2 Output offset is probably a good idea to counteract gravity.  That will help when the servo is disabled.  When the servo is enabled the servo (integrator) will compensate for any offset anyway.

#3 Lead compensation is not used for Kanalog DAC Servos - leave it set at zero and ignore it

#4/5 Tuning is fairly complex. 

The max output for Kanalog is 2047.  Please set the Max Output to that value or less.

You will probably want to add a 2nd order low pass filter of Freq=1000Hz Q=1.4 to the last filter #2.

Here are some links:

http://www.cnczone.com/forums/dynomotion-kflop-kanalog/215344-anilam-supermax-frankenstein-project-using-dynomotion-kflop.html

http://www.cnczone.com/forums/dynomotion-kflop-kanalog/205296-kflop-kanalog-wiring-yaskawa-sgdh-drives-post1534388.html#post1534388
 
http://www.cnczone.com/forums/dynomotion-kflop-kanalog/172480-ac-dc-servo-projects-kaflop-kanalog-post1263711.html#post1263711
 
Regards
TK






From: "isaev_slava@... [DynoMotion]" <DynoMotion@yahoogroups.com>
To: DynoMotion@yahoogroups.com
Sent: Tuesday, August 12, 2014 12:11 PM
Subject: [DynoMotion] setting Z-axis (DC Brush, DAC) [13 Attachments]

 
I have linear stage IAI for Z axis with DC Brush servo.It has 40v, 100w, 3000 rpm, with encoder 500 lines per circle and with belt gear 1:2 and ball screw with 16 mm leadservo amplifier AMC 30A8BTmovable weight is 13 kgmaximum speed is 400 mm/sec
1) My encoder is 500 lines but it give 4 counts for each line. I tried to set input gain 0.25, but it seems to me it's more unstable and I set input gain 1.Is it a correct way?2) Z axis is hеavy and it's falls right after brake off. I measured that it starts up, when DAC=-51 and down when DAC=-35, I set offset output to DAC=-43for balance axis. Is it correct way?3) I have question for "lead compansation". In help it's written "Increase motor speed until a drop in torque is first detected", but I can't understand how measuretorque4) And I have a lot of questions about "step response config" may be you have step by step instructions and would you give me a link for it.I tried to do it myself, but it's not good result and still diferent result for same parameters. where do I start? what is the sequence of settings?5) And I have same questions for "IIR Filters"
I suppose, that I am not first who ask these questions and you have a lot answers for it, would you help me with links.Slava