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Startup and Tuning
GFK-1742A Appendix D Tuning GE Fanuc Digital and Analog Servo Systems D-7
D
Figure D-2. Velocity Loop Step Response Velocity vs. Time VLGN = 0
Figure D-3. Velocity Loop Step Response Torque Command vs. Time VLGN = 0
Note that in Figures D-2 and D-3 the system does not have enough damping. In this case the
controller does not have the required bandwidth and the Velocity Loop Gain must be increased.
- GFK-1742 1
- GE Fanuc Manuals 1
- New In Stock! 1
- GE Fanuc Automation 3
- Warnings, Cautions, and Notes 4
- Content of This Manual 5
- Related Publications 6
- Contents 10
- Product Overview 19
- Versatile I/O 20
- PLC to DSM Data Transfers 22
- Local Logic 23
- DSM314 Position Strobes 24
- DSM314 Scan Time Contribution 24
- Software 25
- VersaPro 25
- Operator Interfaces 25
- Standard Mode Operation 28
- Follower Mode Operation 29
- Section 3: 30
- Series Servos (Digital Mode) 30
- Series Servo Motors 31
- Section 4: 32
- Getting Started 35
- Unpacking the DSM314 37
- Unpacking the FANUC Motor 37
- Connect the 47
- With Terminal Board 48
- Without Terminal Board 48
- External Regeneration 54
- Resistor 54
- VersaPro Program Folders 59
- Home Offset Value 0 0 0 66
- Return Data 1 Offset 66
- Return Data 2 Offset 0 0 0 66
- Motor Type (Digital Mode) 68
- Motion Time 70
- Generating Motion 71
- Enabling Run Mode on the PLC 71
- Configuration Settings 72
- Mission Accomplished! 73
- Important! 74
- I/O Connectors 77
- Shield Ground Connection 78
- I/O Circuit Types 82
- Terminal Boards 82
- Description 84
- Mounting Dimensions 86
- DIN-Rail Mount 89
- Panel Mount 89
- I/O Cable Grounding 95
- Installation and Wiring 101
- I/O Connection Diagrams 102
- January 2001 GFK-1742A 104
- IC693ACC336 Aux. Term. Board 105
- I/O Specifications 110
- Single Ended 5v Sink Input 112
- COMPARATOR 114
- OPEN COLLECTOR DRIVER 114
- 5v Differential Outputs 115
- SOLID STATE 116
- PTC DEVICE 119
- +5v Power 120
- Configuration 121
- Module Configuration 122
- Settings 123
- Number of Axes 124
- Control (CTL) Bits 128
- Output Bits 129
- Axis Configuration Data 130
- User Units, Counts 132
- Overtravel Limit Switch 134
- (Note 1) 144
- (Note 2) 144
- Velocity Loop Gain 150
- Advanced Tab Data 151
- Power Consumption Data 152
- GFK-1742A 5-1 153
- Section 1: %I Status Bits 154
- DSM to PLC Interface 155
- Section 2: %AI Status Words 159
- Description Axis Ref Bit 162
- Description Axis Ref 162
- Digital Mode 172
- Analog Mode 173
- 4.10 Jog Velocity 174
- Jog Acceleration 174
- Select Analog Output Mode 178
- Connector Codes 179
- Signal Codes 179
- Example 1: 180
- Example 2: 180
- Example 3: 180
- Non-Programmed Motion 182
- Home Switch Example 183
- 45741.cvs 184
- Jogging with the DSM314 186
- Move at Velocity Command 186
- Position Increment Commands 188
- Other Considerations 188
- Programmed Motion 189
- Motion Program Basics 193
- Variables 195
- Separators 195
- Motion Program Commands 196
- Block Number 197
- SUBROUTINE 202
- Sync Block 203
- Single-axis Program Structure 205
- Single-Axis Program Example 205
- Multi-Axis Program Structure 206
- Multi-Axis Program Example 206
- Multi-Axis Subroutine Example 208
- Command Usage Examples 209
- Types of Acceleration 210
- Linear Acceleration 210
- S-Curve Acceleration 210
- Positioning Move (PMOVE) 211
- Continuous Move (CMOVE) 211
- 15000 30000 40000 212
- Programmed Moves 213
- DWELL Command 215
- Example 5: DWELL 215
- Wait Command 216
- Subroutines 216
- Block Numbers and Jumps 216
- Unconditional Jumps 217
- Conditional Jumps 217
- Conditional Jump Example 1: 218
- Conditional Jump Example 2: 218
- Conditional Jump Example 3: 218
- Jump Testing 219
- Example 7: Jump Testing 219
- Normal Stop Before JUMP 220
- CTL03 ON 221
- Jump Stop 222
- Example 10: Jump Stop 222
- CTL01 ON 223
- C2 Begins 224
- Maximum Acceleration Time 226
- Feedhold with the DSM314 228
- Feedrate Override 229
- Multi-axis Programming 230
- Kinematic Equations 234
- Velocity 236
- Syntax Errors 237
- Semantic Errors 237
- Warnings 240
- Highlighted 241
- Error Message 241
- Follower Motion 242
- Master Sources 243
- External Master Inputs 243
- A:B Ratio 244
- Example 3: Sample A:B Ratios 245
- Velocity Clamping 246
- Unidirectional Operation 247
- Slave Axis #1 252
- Slave Axis #2 252
- Slave Axis #3 252
- 1 per Servo Axis 257
- GFK-1742A 9-1 258
- Control Sequence: 262
- October 2000 GFK-1742A 263
- GFK-1742A 10-1 264
- Requirements 268
- Getting Started with VersaPro 268
- Using the Local Logic Editor 270
- Local Logic Variable Table 272
- Main Window Menus 273
- Toolbars 281
- Series 90-30 PLC 284
- (RS-485) 284
- Personal Computer 284
- Running VersaPro Software 284
- Local Logic Tutorial 318
- Comments 319
- Operators 320
- Relational Operators 321
- Bitwise Logical Operators 321
- 4000 5000 329
- Local Logic Language Syntax 330
- Local Logic Variables 331
- Local Logic Statements 331
- Whitespace 333
- PRAGMA Directive 334
- Local Logic Outputs/Commands 335
- Operator + 337
- Operator 338
- Operator * 338
- Operator / 339
- Operator MOD 340
- Function ABS 341
- Operator BWAND 342
- Operator BWOR 343
- Operator BWXOR 343
- Operator BWNOT 344
- Comparison Operators 345
- Local Logic Runtime Errors 346
- Local Logic Error Messages 348
- Local Logic Parse Errors 349
- Local Logic Parse Warnings 351
- Local Logic System Variables 355
- System_Halt variable 356
- Local Logic User Data Table 357
- Table 13-2. Axis 2 Variables 359
- Local Logic Configuration 363
- New CTL bits CTL01-CTL32 364
- CTL01-CTL32 365
- Configuring the DSM314 374
- Stopping the PLC 378
- Store Operation 378
- Using the Motion Editor 379
- Saving your Motion Program 381
- Print Report: 385
- Section 1: Introduction 388
- Electronic CAM Overview 388
- Fill Tank 390
- Plunger Axis 390
- (S lave) 390
- Basic Cam Shapes/Definition 391
- Section 2: Cam Syntax 392
- CAM Types 392
- Circular Cyclic CAM 393
- Interpolation and Smoothing 395
- Boundary Conditions 397
- CAM Command 398
- CAM-LOAD Command 400
- CAM-PHASE Command 401
- CAM and MOVE Instructions 401
- Time-Based CAM Motion 401
- CAM-Specific DSM Error Codes 407
- CAM Execution Error Codes 408
- Step 1: Create a New Folder 410
- Step 3: Create a CAM Profile 414
- Step 6: Specify the CAM Type 419
- Step 8: Save the CAM Profile 421
- Mode to Digital Servo 431
- Error Reporting 438
- Error Code Format 439
- Response Methods 439
- System Error Codes 450
- LED Indicators 454
- Appendix 456
- DSM314 COMM REQ 458
- Corrective Action 459
- Monitoring the Status Word 460
- MSWD-TWM 468
- The Command Block 469
- Position Feedback Devices 478
- Postion Feedback Devices 480
- Analog Servo Systems 481
- Startup and Tuning 483
- Tuning Requirements 484
- Tuning the Position Loop 492
- Startup Procedures 494
- Local Logic Execution Time 497
- Example 2 499
- X- Not Applicable 502
- Local Logic Program Constants 504
- Strobe Accuracy Calculations 507
- Estimated assuming 509
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