ATech Machine ZETA-02 A Guía de instalación descargar pdf (Pagina 34)

28 z ZETA6104 Installation Guide

Step 4

Make a baseline move with active damping disabled. This is your baseline move.

Notice the sound, amount of motor vibration, etc. This move shows how your system

operates with anti-resonance enabled, and active damping disabled. Each time you adjust the

DACTDP setting (in steps 5-7), you will compare results against this baseline move.

1. Issue the DACTDP¯ command to disable active damping.

2. Make a move that is representative of your application, with similar velocity and

acceleration. The velocity must be greater than 3Êrps, in order for the ZETA6104 to

activate anti-resonance or active damping.

WARNING

Make sure that causing motion will not damage equipment or injure personnel.

The following six commands illustrate a simple incremental point-to-point move:

MC0 ; select the preset positioning mode

MA0 ; select the incremental preset positioning mode

A10 ; set the acceleration to 10 revs/sec/sec

V8 ; set the velocity to 8 revs/sec/sec

D250000 ; set the distance to 250,000 steps, equal to 10 revs

GO ; initiate the move

; **************************************************************

; * NOTE: To stop a move in progress, issue the !S command. *

; * To repeat the move, issue the GO command. To reverse *

; * direction, issue the D~ command and the GO command. *

; **************************************************************

Step 5

Make a move with active damping enabled. Compare the sound and vibration to the

baseline move.

1. Issue the DACTDP1 command to enable active damping. This enables active damping

at its lowest setting, and inhibits anti-resonance.

2. Make a move that is representative of your application. Use the same motion

parameters that you set up in step 4. If you have not changed these settings, simply

issue the GO command.

Step 6

Increase the setting. Issue the DACTDP2 command (unless DACTDP1 is your calculated

maximumÑsee step 3). Make the move again. Compare the sound and vibration to the

levels obtained at DACTDP1.

Step 7

Find the ideal DACTDP setting. Continue to increase the DACTDP setting by single

increments. During a repetitive move, you can change the setting Òon the flyÓ (while the

move is in progress) if you precede the DACTDP command with a Ò!Ó (e.g., !DACTDP2).

This allows you to immediately compare two different settings.

Increase the setting until you obtain optimum results for your move. This will be the setting

that yields the lowest audible noise and smoothest motor operation. Write down this setting

so that you can include it in your programming (perhaps in the set-up program).

Never exceed your maximum setting (see step 3). For many applications, you will

not need to go as high as the maximum setting. If you do not see perceptible improvement

from one switch setting to the next, use the lower switch setting.

Higher switch settings result in higher dynamic motor current during transients, which can

cause increased motor heating. Higher current also increases motor torque, resulting in sharper

accelerations that can jerk or stress the mechanics in your system. If you test each

intermediate DACTDP setting, you can evaluate the effects on your mechanics as you gradually

increase damping.

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ATech Machine ZETA-02 A Guía de instalación Pagina 34

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