NORD Drivesystems BU0210 - Manual (Page 43)

5 Commissioning
BU 0210 GB Subject to technical amendments 43
5 Commissioning
When commissioning the PosiCon applications, it is recommended that a specific sequence is adhered to. The
individual steps are described in the following sections. Information concerning individual error symptoms can
also be found in Section 7 , Troubleshooting.
1. Step: commissioning the axis without closed loop speed or position control
After the input of all parameters the axis should first be commissioned without control of the position or speed.
For this the position control in the parameter group "Positioning" under parameter P600 "Position Control" and
the Servo mode in the parameter group "Control Parameters" under parameter P300 "Servo Mode" are
switched off.
NOTE: Ensure that the Emergency Stop and safety circuits are functional!
For lifting gear, prior to switching on for the first time measures must be taken to prevent the load from falling.
For lifting gear applications, when lifting loads with speed control, the parameter P107 "Brake Application
Time" and P114 "Brake Release Time" should be optimised after setting the speed control.
2. Step: Commissioning the speed control
If no speed control is required or an incremental encoder is not available, this step can be skipped. Otherwise
the Servo Mode is switched on. For operation in Servo Mode, the exact motor data (parameter P200 and
following) and the correct encoder resolution / pulse number of the incremental encoder (parameter P301,
"Incremental Encoder Pulse Number") must be parameterised.
If the motor only runs at a slow speed with a high current consumption after the Servo Mode is switched on,
there is usually an error in the wiring or the parameterisation of the incremental encoder connection. The most
frequent cause is an incorrect assignment of the direction of rotation of the motor to the counting direction of
the encoder. The optimisation of the speed control is optimised after commissioning of the position control, as
the behaviour of the position control circuit can be influenced by changes to the speed control parameters.
3. Step: Commissioning the position control
After setting parameter P604 "Encoder Type" and P605 "Absolute Encoder" it must be checked whether the
actual position is correctly detected. The actual position is shown in parameter P601 "Actual Position". The
value must be stable and become larger if the motor is switched on with rotation to the right enabled. If the
value does not change when the axis is moved, the parameterisation and the encoder connection must be
checked. The same applies if the displayed value for the actual position jumps although the axis has not
moved.
After this a setpoint position in the vicinity of the actual position should be parameterised. If after being
enabled, the axis moves away form the position instead of towards it, the assignment between the direction of
rotation of the motor and the direction of rotation os the encoder is incorrect. The sign for the speed ratio
should then be changed.
If the detection of the actual position operates correctly, the position control can be optimised. In principle, with
an increase of the P amplification the axis becomes "harder", i.e. the deviation from the setpoint position
becomes smaller than with smaller amplifications.