6.4 Torque load
Checking the maximum axis acceleration
To ensure that the torque limit is not reached, after tuning the Kv factor and the feedforward
control, check the torque loading under unfavorable conditions:
●
At high velocity
●
For high loading
The
"Trace"
function is used to measure the velocity setpoint of the active measuring system
and the percentage torque load with the "Load (m_set / m_set_limit)" trace signal. If the "Load
(m_set / m_set_limit)" trace signal is set to 100%, the drive operates with current limitation.
Change the measurement parameters in the trace to display the torque loading.
MD32300 $MA_MAX_AX_ACCEL defines the maximum acceleration of the axes. The default
setting is [1 m/s
2
(metric), 39.37 in/s
2
(inch) and 2.77 rev/s
2
(rotary)]. Each axis can have a
different setting for the acceleration.
If permitted by the machine manufacturer, MD32300 can be set so that the torque loading
during the acceleration phase in the worst case lies between 80% and 90% of the limit value,
depending on the size of the desired safety factor.
Note
The machine mechanical system limits the maximum axis acceleration. The machine
manufacturer
must
define
the
required setting value! If this value is not defined, use the default
setting unless the machine manufacturer permits an increased value.
Example: Test program
In this test program, the axes should be traversed within an adequate distance so that the
programmed rapid-traverse velocity can
be attained, e.g. 300 mm. To do this, change the test
program as follows:
SOFT
$AN_SLTRACE=0; Reset start servo trace trigger
LAB:
G0 X10
$AN_SLTRACE=1; Start servo trace trigger
X310
GOTOB LAB
M30
Select one of the following signals for monitoring:
● Actual velocity measuring system 2
● Load (m_set/m_set_limit)
● Torque-generating actual current value i(q)
Tuning
6.4 Torque load
CNC commissioning
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3 191
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