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How to improve the S120 acceleration

Created by: shangshang at: 2/19/2009 10:16 AM (5 Replies)

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2/19/2009 10:16 AM	Rate (0)
shangshang Posts: 5 Rating: (0)	hello everybody: I meet a problem.Now I use BLM,CU320and 1FK7 motors(max speed 6000rpm). I want to finish the task. Frst let the motor rotate half a circle when received the signal of "position reached"the motor mustwait 60ms.,then the motor rotate half a circle again.The wholeprocess must be completed in 90 ms.In other words, the motor rotate half a circle must be completed in 30 ms. But I find the speed of motor only can reach 1200rpm in this process and the motor rotate half a circle inmore than 50ms.How can I solve this problem. If I use ALM,CU320 and 1FT6 motor ,can I fulfill the task? Please help me! (10000LU/motor rev, poistion cotroller :p=15) Thanks&BR! Attachment trace.JPG (552 Downloads)
shangshang Posts: 5 Rating: (0)
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2/19/2009 8:30 PM	Rate (0)
Dave Posts: 271 Rating: (29)	Hello Shangshang, You're using a BLM, CU320 + MoMo with 1FK7-5AK71-xxxx motor. Motion profile: Rotate 180 deg., dwell 60 ms, rotate 180 deg. all in 90 ms. This means that you have 30 ms to make two 180 deg. moves. Now you're limited to 1200 rpm. You're using STARTER to commission. Open the "Expert list" for the drive you're working with and check settings for ramp times (i.e., p1120 and p1121). Set these to "0". Now the motion profile that you have programmed in the traversing blocks in the "Basic positioner" will be correct. If you would like to have 0.001 degree resolution, set p2506 = 360000. This assumes that you have a direct connected motor to the load. Now a move of 180 degrees will be 180000 length units (i.e., LU). Hope this helps...
Dave Posts: 271 Rating: (29)
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2/20/2009 5:50 AM	Rate (0)
shangshang Posts: 5 Rating: (0)	Mr.Dave: Thanks a lot. I have tried, butit is no effection .I hope youor anyone else can help me! Thanks &BR!
shangshang Posts: 5 Rating: (0)
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3/3/2009 8:43 PM	Rate (0)
Dave Posts: 271 Rating: (29)	Hello Shangshang, Consider taking a look at p2572 and p2573 for EPOS maximum acceleration and deceleration settings. The default value is 100 LU/s/s. Try setting it to 200 and then 400, etc. Since your ramp times are now hopefully not limiting you, it must be the position loop accel/decel rates instead. Hope this helps...
Dave Posts: 271 Rating: (29)
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3/4/2009 4:36 AM	Rate (0)
shangshang Posts: 5 Rating: (0)	Hello Dave: First thank you very much! These ways I have alread tried.It can improve the motor's acceleration & deceleration but the motor rotate half of a circle about 40ms at it's limites. I want to reduce the time(no more than 30ms).
shangshang Posts: 5 Rating: (0)
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3/9/2009 10:01 PM	Rate (0)
Dave Posts: 271 Rating: (29)	Hello again Shangshang, It sounds as though your positioning mode and position loop settings are not limiting you; therefore, you have to consider the drive size and torque/current settings. Take a look at parameters p1520 and p1521. These settings will allow you to increase the accel and decel torque output; however, you may get to a point that the drive is not able to provide as much current as you would like to have. Consider calculating the torque that you think you may need to accelerate as fast as you would like and include your friction and inertia in the calculations. If you've done this, you should know approximately how much current you may need. Is your drive able to output this kind of current? Did you consider some safety factor for additional losses in your mechanical system (e.g., excess friction, windage, etc.)? Increasing p1520 and p1521 may force your drive into a higher current output but it may be duty rated (i.e., more than S1 100% operation). Hope this helps...
Dave Posts: 271 Rating: (29)
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