Installation manual

Application note Getting started with e100 AN00187-002
ABB Motion control products 13
www.abbmotion.com
Speed = 30 (rev/s)
Acceltime = 100 (ms)
Deceltime = 100 (ms)
Distance = 30 (revs)
These values give a move time of 1.1s. Make sure the KPROP and KVELFF values have been typed in correctly and click the GO
button. The motor will perform the move and the captured data will be uploaded and displayed on the screen. If the motor vibrates
excessively then the starting value for KPROP could be too high; this is more likely with high resolution systems.
In the diagram above the trapezoidal shaped line (in green) is the measured velocity trace and the “S” curve (blue) line is the
measured position. It is also possible to turn on and off the Demanded Velocity and the Demanded Position, the objective of tuning
is to get the measured line to follow the demanded line as closely as possible.
To fine-tune the position loop gain terms it is best to look at the difference between the measured position and the demanded
position, known as the following error. To see this on your graph make sure all other plots are turned off by un-checking the check
boxes. Alternatively you could assign a new y axis on the graph to the same scale as the following error.
.This is a typical plot of following error for a trapezoidal move.