Allen-Bradley 2-D Instalační manuál Strana 18

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  • Hodnocené. / 5. Na základě hodnocení zákazníků
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NOTE: When the load is attached the shaft moving mass will
need to be changed to the total mass of the shaft plus
load.
5.2. Setting Initial Tuning Values:
Basic tuning parameters need to be set in the Ultra 3000i drive to for basic motion to
occur. The Moog motor parameters need to be loaded into the Ultra 3000i drive. This is
accomplished through the following steps:
1. Open the Tuning window by clicking on Tuning icon under Ultra 5K.
2. Expand the Velocity Regulator Gains by clicking on the + . Set the values listed in
Table 5.1.
3. Expand the Position Regulator Gains by clicking on the + . Set the values listed in
Table 5.2
Do not attempt to use the Autotuning function in the Ultraware. Large rapid motions
may occur and cause damage to the motor or drive.
Table 5.1 Table 5.2
P 380 Kp 400
I 0 Kpz 0
FF 1 Kpz zone 0
Bandwidth 0 Ki 0
Upper Limit 30 Ki zone 0
Lower Limit -30 Kff 5
5.3. Running the system:
The system is now ready to be run using the pendant. Ensure no persons are in a
position where the motor shaft rapidly extending or retracting could cause an injury.
The system is Enabled by selecting enable with the enable switch. The motor will fully
retract then slightly extend to its home position, and is ready to run a motion sequence.
The individual sequences are chosen by setting a binary code determined by the
positions of the sequence selection switches and then pressing the start button. The
system is programmed with 8 different preprogram sequences which are selected with
the binary coding of the individual switch positions of SW0, SW1, and SW2. The table
5.3.1 lists the coding and switch positions.
AN-0130 18 of 22 Revision B
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Viktor 14 May 2024 | 15:54:21

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