Setting up the motor drive is a multi-step process
and must be completed independently for each axis. Further, the exact procedure
is specific to the specific type of drive/motor combination. The following notes
address the general concerns for most motor/drive combinations.
NOTE--Initial drive setup must be carried out
with no load attached. It is also good practice to perform the following
before plugging cables between the controllers and the drive.
- Follow the drive start-up procedures as
outlined in the specific manual for that equipment.
- If using a vector drive, be certain that the
encoder cable is properly connected and perform the tuning procedures as per
the manufacturer's instructions. (Typically drive tuning is done with no
load, including the gearbox, etc.) Be absolutely certain to manually release
the mechanical brake for the tuning procedure if one is installed in the
system.
- At this point it is usually safe to mount the
motor in the winch frame and to drive a bare winch drum for the rest of
these tests.
- Ensure that the motor operates as desired from
the local keypad/controls. Verify that the desired direction of shaft/drum
rotation matches the forward/reverse selector on the drive control. The
direction of rotation can be changed by reversing any two of the motor power
leads. Remember that encoder leads for A & B channels must also be swapped
if using a vector drive (although some drives allow this to be done by
changing an internal parameter.
- While continuing to operate the drive locally,
check to see that motor operates properly across its entire speed range.
Check also that the mechanical brake operates properly.
- If possible, hook the load to the motor to
verify that the entire mechanical system operates properly before
continuing. Remember that the load must be disconnected from the winch later
before controller tuning.
- Prepare for remote operation. Specify any
parameters needed to allow for a single remote run command and for a
bi-polar (+/-10v) speed reference input.
- Specify any parameters to allow the drive to
operate the mechanical brake (if used).
- Set all acceleration, deceleration, and
S-curve profiles to the minimum (zero) setting. It is crucial that the
controller have full control of these values.
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