Linear Motor Analog Control
We are using ironcore Linear Motor ICH22-100 for our operation. The motor is working fine in service mode (actually we do not know that how good it is working if we give it complex motions, but it is working smoothly for jog and trapezoidal mode). We adjusted the slider tuning value from workbench so that it is not making any noise and works smoothly.
The problem occurs as soon as we use Analog mode, the motor starts giving a loud static noise and we disable it immediately. we are using velocity loop and we have tried doing Perfomance Servo Tuner(PST) and adjusting the slider tuning, but we still get strong noise from the motor in Analog mode.
Is there any suggestions on how to deal with this issue? We are using this AKD driver AKD - P 012 07 - NB CC - E000
It could be noise on the…
It could be noise on the analog signal. Even if the signal is clean, the analog signal is generally much lower resolution than running with the drive's internal resolution in Service mode.
Or if you are closing position loop in the master using the Emulated Encoder Output, try setting the EEO resolution to a higher value.
Also, if you are closing position loop in the master, you must tune the position loop in the master.
Running the drive in Service Velocity mode does not use the analog signal, the EEO, or the position loop (either in the drive or in the master).
The bode plot tool in the PST should show the resonance and allow you to set filters. The slider tuning doesn't set filters. The PST autotuner sets filters, but it only runs in Service mode, so it's not taking into account the analog signal resolution or the EEO resolution. You may need to adjust some gains and filters manually after running the autotuner. If you need assistance, please contact your local or European Kollmorgen office.