Installation manual

Application note Getting started with e100 AN00187-002
ABB Motion control products 8
www.abbmotion.com
Profile parameters
Profile parametersProfile parameters
Profile parameters
The MicroFlex e100 is referred to as the “Controlled Node”, or CN, and the NextMove e100 is referred to as the “Manager Node” or
MN. During Manager Node (MN) profiling the manager node (the Nextmove e100) profiles moves on behalf of the controlled node,
sending continuously updated incremental demands to the drive. As a CN axis the drive receives a single position command from
the NextMove e100 and the drive profiles the move itself. Further information on this topic can be found in the help file entry
Contents->Fieldbus Networks->Ethernet Powerlink->DS402 modes of operation.
The current, speed and position profile parameters shown above are used by the drive when it is set up for “Control led Node (CN)
Profiling” but are also used as defaults for Fine tuning test moves. Later during the NextMove e100 setup the drive will be setup for
“Manager Node profiling” so these settings are not critical.
The Position Control parameters must be set regardless of whether the drive is MN or CN profiled. All of these parameters are
scaled according to the scalefactors that were set earlier:
Max Position Error – this sets the maximum deviation allowed between demand and measured position at any time (i.e. following
error limit)
Idle Position Tolerance – how close the axis must be to the target position to consider a move to be complete (i.e. axis to be IDLE)
Idle Velocity – the speed below which the axis must be travelling in order to consider a move to be complete (i.e. IDLEVEL). The
minimum speed resolution is 4000 counts/sec so it is typical to set a value equivalent to 160000-20000 counts/sec (the value used
depends on the VELSCALEFACTOR set earlier).
Select “Finish” to move on to the Autotuning section. See below.
Tuning the MicroFlex e100
Tuning the MicroFlex e100Tuning the MicroFlex e100
Tuning the MicroFlex e100
The drive contains 3 nested control loops. The innermost loop is the current control loop. This is enclosed within the speed control
loop. The outermost loop is the position control loop.
The current loop receives a torque demand from the speed control loop. The current loop then drives current into the motor which
creates torque causing it to accelerate or decelerate.
The speed control loop receives a speed demand from the position control loop. The speed control loop is important as it provides
a good dynamic response, a reduced risk of erratic behaviour and makes the position loop far easier to tune for the majority of
cases.