User`s manual

2.0 - PMAC Executive program, PEWIN
Page - 18
4) Perform a parabolic move and use the following guidelines for the selection of the appropriate I-variables:
2.9 - Other Features
- Setup of the PMAC encoder conversion table.
- Setup of the Notch and Low Pass Filter parameters.
- Coordinate systems configurations.
- Access to P1Setup and P2Setup (packages provided separately). These setup utilities provide a user-friendly approach
for setting up and tuning PMAC (1), with P1Setup, or PMAC2 using P2Setup.
- Online PMAC Software and Hardware help files.
- Jog Ribbon and connector status
- Screens to display, organize or change I, P, Q and M variables.
- Firmware downloading (through MOTIONEXE) for PMACs with flash memory.
Ideal Case
The following error is reduced at
minimum and is concentrated in the
center, evenly along the move
High acc \ FE correlation
Cause: Integral lag
Fix: Increase K
aff
(Ix35)
High vel \ FE correlation
Cause: damping and friction
Fix: Increase K
vel
(Ix32)
High vel \ FE correlation
Cause: damping
Fix: Increase K
vel
(Ix32)
High acc \ FE correlation
Cause: Physical system limitations
Fix: Use less sudden acceleration
High acc \ FE correlation
Cause: Too much acc FF
Fix: Decrease K
aff
(Ix35)
Negative vel \ FE correlation
Cause: Too much velocity FF
Fix: Decrease K
vel
(Ix32)
High vel\FE and acc\FEcorrelation
Cause: Integral lag and friction
Fix: Increase K
aff
(Ix35)
High vel \ FE correlation
Cause: friction
Fix: Increase Integral gain (Ix33) or
Friction Feedforward (Ix68)