Rockwell-automation 8510 AC Spindle Drive System Programming Manual Instrukcja Użytkownika Pobierz pdf (Strona 41)

Drive Tuning

Chapter 3

3-38

If plotted as velocity versus position, the final deceleration is a straight line

from the Orient Speed/Orient Start point to the Zero Speed/Target Position

point (see Figure 3.1). The orient position loop gain is essentially the slope

of this curve and is defined as:

Orient

Speed

Orient Start

(expressed as degrees/second/degrees or radians/second)

Kp = 6

The orient position loop gain that is achieved using the default values for

Orient Speed and Orient Start is:

60 rpm

45.0 degrees

= 8 radians/second

Kp = 6

If the velocity or position error were plotted versus time, the deceleration

would be a single exponential deceleration to the target position.

Figure 3.1

Spindle Orient Operation

Orient Start

Slope x 6 = Kp

Final Decel

Begin Final

Deceleration

Target

Position

Orient Speed

Decel from

Running Speed

Spindle Position

Spindle

Speed

1 2 ... 36 37 38 39 40 41 42 43 44 45 46 47

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Rockwell-automation 8510 AC Spindle Drive System Programming Manual Instrukcja Użytkownika Strona 41