Slitter and Scorer Tools Positioning Carriage Incremental Encoder Resolution ER =500 [pulse/rev] DrivePulley Nr.

of Teeth ZP1=30[teeth]

Pulleys GearRatio PGR =1.5 :1

Rack Pitch RP =10[mm/tooth]

DC Pancake Servomotor M

Pl t Gear
Planetary G R ti GR =9
Ratio 9 :1
1
Slitter Tools Scorer Tools

Driven Pulley Nr. of Teeth ZP2=45[teeth] Pinion Nr. of Teeth ZP=20[teeth]

Calculations of KNbased on mechanism parameters

Operator
p InterfaceComputer
p MachineParameters Screen
NominalServoAxis Position Resolution KN=135.000[FU/mm]=3429[FU/inch]

4[FU/pulse]xER[pulse/rev] 1 revM 1 revZP11 revZP2 1 revZP

KN =
1 revM (1/ GR ) revZP1(1/(ZP2/ ZP1) ) revZP2 1 revZP (ZP[teeth]xRP[mm/tooth])

4[FU/pulse]x500[pulse/rev] 1 revM 1 revZP11 revZP2 1 revZP

KN =
1 revM (1/ 9 ) revZP1(1/(45/ 30) ) revZP2 1 revZP (20[teeth]x10[mm/tooth])

KN=135.000[FU/mm]=3429[FU/inch]

KRSupplied by machinemanufacturer on MachineParameters Screen

RealServoAxis Position Resolution KR=135.378[FU/mm]=3438.600[FU/inch]

Servocnts /mm135.378
 G&L Pic90 Analog Motion Controller
Control Cabinet

Power Cabinet
PWM DC ServoDrive
 Installed Infranor SMVE 2420 032 Drive Control Board Actual Settings

G&L PIC90 System
Position Loop Actual Settings
Kp Position Pgain = 1000
Ki Position Igain = 0
Speed Loop Actual Settings Infranor PWM Drive Speed Loop Actual Settings
Kp Speed Pgain = 220 Type SMVE 2420 032 P2 Speed Pgain = 1.0
Ki Speed Igain = 100 INeff = 20A C2 Speed Igain = 0
Imax = 40A P4 - IAmax = 80% Imax = 32A
Vn = 50 240VDC P5 - IAeff = 80% INeff = 16A
Pn = 4.8kW

Position Loop Speed Loop

Speed Loop Current Loop
(TKV_A1.LDO Servo Task)
X8:16/17
Profile
Generator
+
- PID +
- PID +
- PI +
- PI M
Analog Output Module

X8:19/18
E
Drive Speed Loop without tachometer
feedback device installed
Encoder Input Module

Mavilor DC Servomotor
Type MO3000
3.2kW - 3000rpm - 1030Ncm
220 V INmot = 16 A