Commissioning Procedure Necessary for Using the AdvancedPositioning Function Block
Commissioning involves the configuration of the equipment that controls your crane. You should be aware of all the hazards involved in such an operation, and to take any and all needed or otherwise required precautions to assure the safety of equipment and personnel in and around the crane.
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UNINTENDED EQUIPMENT OPERATION |
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Verify that all equipment is secured to prevent harm to personnel and equipment damage. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
1.Set the drive to factory settings. In drive menu application functions disable, preset speeds. Set command and reference channel to preferred fieldbus.
2.Configure the Altivar variable speed drive (VSD) with correct motor control parameters.
3.Configure the following parameters in the settings menu of Altivar drive:
oK speed loop filter (SFC) = 100
oIR compensation (UFR) = 100
oLow speed (LSP) = 0 (or as close to 0 as possible)
oSlip compensation (SLP) = 100
oMotor control mode (CTT) depending on machine configuration (FVC is preferred).
If a different drive is used, set the applicable parameters.
4.Set the acceleration (ACC) and deceleration (DEC) ramp time on the Altivar variable speed drive to a minimum value (0.1 s or 0.01 s).
5.Instantiate the FB.
6.Make sure that limit switch signals are connected to the controller and the signals given to the FB.
7.Connect i_xDrvRun and i_xSysRdy inputs.
8.Configure the parameters inside the encoder configuration structure (i_stEncPara).
9.Connect the speed reference output to input communication channel (fieldbus) of the drive. The value is signed and therefore the drive always gets only forward direction command. This simplifies the command control of the drive since the command control is performed by user application and not by the AdvancedPositioning FB.
See the FB instantiation example for visual description of the program.
10.Recommended start-up parameters for commissioning/identification. Start with softer parameters and gradually increase the performance. The suitable setting differs from machine to machine.
Following values are supposed to give a rough idea. Only a subset of available parameters is mentioned in this section.
oi_stMotPara.diRampAcc, i_stMotPara.diRampDec, i_stMotPara.diRampDecQuickStop – start with a low value (for example, 200 RPM/s).
oi_stPosPara.diPosDiffMax depends on used encoder, use value corresponding to acceptable position deviation (for example, several motor revolutions).
oi_stPosPara.diInPosWdow - for starters use a value corresponding to ~1/10 of motor revolution.
oi_wInPosTime - ~200 ms
oi_stPosPara.wPosFailTime - ~1000 ms
oi_stPosPara.rKpPos - start with a low value (5...10) and slowly increase. If the axis starts to oscillate, the value is too high.
oi_stPosPara.rKpFeedFwd - The default value is 0. Increase the value slowly to find the optimal setting. Find an optimal setting of i_stPosPara.rKpPos first.
11.Finish your application, build it and download it to the controller.
12.Start the controller. The axis must be In position after the first start of the controller. If it is in Positioning failed state or if there is a following error alarm detected it suggests that the i_xSysRdy input was set to TRUE before the actual encoder value was present on the i_diEncVal input.
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UNINTENDED EQUIPMENT OPERATION |
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Verify that the actual encoder value is present before the i_xSysRdy input is set to TRUE. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
13.Test the behavior of the FB in applicable modes.
