1、Determining optimal parameters for external axesReasons for adjustment using the oscilloscope:Exploitation of the available resources forAcceleration ramp ($RAISE_TIME )Braking with path-maintaining E-STOP($RED_ACC_EMX )Braking ramp ($DECEL_MB )Axis acceleration timeREAL $RAISE_TIME12;AXIS ACCELERAT

2、ION TIME AXISI (I=1:A1,I=7:E1)MS$RAISE_TIME1=350.0$RAISE_TIME2=750.0$RAISE_TIME3=300.0$RAISE_TIME4=250.0$RAISE_TIME5=180.0$RAISE_TIME6=240.0$RAISE_TIME7=400.0$RAISE_TIME8=150.0$RAISE_TIME9=250.0$RAISE_TIME10=200.0$RAISE_TIME11=0.0$RAISE_TIME12=0.0The corresponding axis should not be allowed to go in

3、to current limitation during measurement.Normal values= 300 to 1000 msStart value= 500 ms$RAISE_TIME=500Blue Blue Following Error_A3 Rad x 1.00 Magenta Actual Velocity_A3 RPM x 1000.0 Reduction factor for path-maintaining Emergency Stop rampINT $RED_ACC_EMX12;REDUCTION FACTOR FOR PATH-MAINTAINING E-

4、STOP RAMP %$RED_ACC_EMX1=190$RED_ACC_EMX2=300$RED_ACC_EMX3=300$RED_ACC_EMX4=250$RED_ACC_EMX5=250$RED_ACC_EMX6=250$RED_ACC_EMX7=300$RED_ACC_EMX8=1000$RED_ACC_EMX9=300$RED_ACC_EMX10=150$RED_ACC_EMX11=100$RED_ACC_EMX12=100Start value = 100 % E-STOP$RED_ACC_EMX=100BlueRedGreenThe corresponding axis shou

5、ld not be allowed to go into current limitation.The percentage value set here refers to the $RAISE_TIME ; 200% means: the gradient is twice as steep as the acceleration ramp. Blue Following Error_A3 Rad x 1.00 Green Command Velocity_A3 RPM x 1000.0Magenta Actual Velocity_A3 RPM x 1000.0 Red Actual C

6、urrent_A3 Amp x 5.00Deceleration time - Braking ramp for dynamic brakingREAL $DECEL_MB12;BRAKING RAMP FOR DYNAMIC BRAKING MS$DECEL_MB1=211.0$DECEL_MB2=267.0$DECEL_MB3=117.0$DECEL_MB4=100.0$DECEL_MB5=100.0$DECEL_MB6=104.0$DECEL_MB7=500.0$DECEL_MB8=150.0$DECEL_MB9=134.0$DECEL_MB10=200.0$DECEL_MB11=0.0

7、$DECEL_MB12=0.0Unit ms$RAISE_TIME * 100%$DECEL_MB=$RED_ACC_EMXBy this measure the extreme decrease of the speed command value is avioded.Otherwise it could happen that the current controller exceeds its maximum value.In such a case a path maintaining braking would not longer be possibleLowest value:

8、 180Adjustment using the oscilloscope: default settingParameters:$RAISE_TIME9 = 500$RED_ACC_EMX9 = 100$DECEL_MB9 = 500E-STOPCurrent limitation: 16 AActive color: BlueBlueMagentaGreenRed Blue Following Error_A3 Rad x 1.00 Green Command Velocity_A3 RPM x 1000.0Magenta Actual Velocity_A3 RPM x 1000.0 R

9、ed Actual Current_A3 Amp x 5.00Adjustment using the oscilloscope: over-optimized settingParameters:$RAISE_TIME9 = 100$RED_ACC_EMX9 = 300$DECEL_MB9 = 33E-STOPCurrent limitation: 16 AActive color: BlueBlueMagentaGreenRed Blue Following Error_A3 Rad x 0.0500 Green Command Velocity_A3 RPM x 1000.0Magent

10、a Actual Velocity_A3 RPM x 1000.0 Red Actual Current_A3 Amp x 5.00Adjustment using the oscilloscope: optimized settingParameters:$RAISE_TIME9 = 250$RED_ACC_EMX9 = 180$DECEL_MB9 = 140E-STOPCurrent limitation: 16 AActive color: BlueBlueMagentaGreenRed Blue Following Error_A3 Rad x 1.00 Green Command V

11、elocity_A3 RPM x 1000.0Magenta Actual Velocity_A3 RPM x 1000.0 Red Actual Current_A3 Amp x 5.00Monitor Diagnosis Oscilloscope Configure (1)Trace parameter selection (2)Automatic start of the oscilloscope function by a program (1)Start recording traceStop recording traceAutomatic start of the oscilloscope function by a program (2)Start recording traceAutomatic start of the oscilloscope function by a program (3)Stop recording traceAutomatic start of the oscilloscope function by a program (4)Machine data optimization form$RAISE_TIME7(Accel