Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Manual de usuario descargar pdf (Pagina 405)

Publication 1784-UM003A-EN-P – June 2003

Motion Object Attributes 397

The output filter is particularly useful in high inertia applications where

mechanical resonance behavior can severely restrict the maximum bandwidth

capability of the servo loop.

Torque Scaling

The Torque Scaling attribute is used to convert the acceleration of the servo

loop into equivalent % rated torque to the motor. This has the effect of

“normalizing” the units of the servo loops gain parameters so that their values

are not affected by variations in feedback resolution, drive scaling, motor and

load inertia, and mechanical gear ratios. In fact, the Torque Scaling value, when

properly established, represents the inertia of the system and is related to the

Tune Inertia value by a factor of the Conversion Constant. The Torque Scaling

value is typically established by the drive’s automatic tuning procedure but the

value can be manually calculated, if necessary, using the following guidelines.

Torque Scaling = 100 % Rated Torque / (Acceleration @ 100% Rated

Torque)

For example, if this axis is using position units of motor revolutions (revs), and

that with 100% rated torque applied to the motor, the motor accelerates at a

rate of 3000 Revs/Sec

, the Torque Scaling attribute value would be calculated

as shown below.

Torque Scaling = 100 % Rated / (3000 RPS

) = 0.033 % Rated/ Revs

Per Second

Note: If the Torque Scaling value does not reflect the true torque to

acceleration characteristic of the system, the gains also does not reflect

the true performance of the system.

Integrator Hold Enable

When the Integrator Hold Enable attribute value is configured TRUE, the

servo loop temporarily disables any enabled integrators while the command

position is changing. This feature is used by point-to-point moves to minimize

the integrator wind-up during motion. When the Integrator Hold Enable

attribute value is FALSE, all active integrators are always enabled. .

GSV/SSV Access Attribute Name Data Type Values

SSV/GSV Torque Scaling REAL

%Rated/ Position Units Per Second

GSV/SSV Access Attribute Name Data Type Values

SSV/GSV Integrator Hold Enable SINT 0 = disabled

1 = enabled

1 2 ... 400 401 402 403 404 405 406 407 408 409 410 ... 450 451

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Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Manual de usuario Pagina 405