Step 6: Optimize the configuration value for the time constant of the combined encoder evaluation (optional)

Optimizing the time constant of the combined encoder evaluation is often recommended for applications with low natural frequencies of the mechanics, for example storage/retrieval systems and hoists with long, elastic ropes or belts (e.g. belt hoists). To determine the time constant of the mechanical system (natural frequency), proceed as follows.

  1. Deactivate the "Position control" setting under [Drive trains] > [Drive train 1] > [Distance encoder] > [Usage].
  2. Under [Drive trains] > [Drive train 1] > [Motor encoder] > [Usage], activate the "Position control" setting so that the motor encoder is again used for position control.
    • The motor encoder is used for position control.
  3. Transfer the parameterization of the drive train to the inverter using the [Apply changes] button.
  4. If necessary, perform referencing again after transferring the drive train.
  5. Move the drive and use MOVISUITE® Scope to record a stopping process with a dynamic deceleration ramp without jerk or with brake engagement (ideally with load and, if available, at maximum rope/belt length).
  6. In MOVISUITE® Scope, determine the period of one oscillation after the stopping process based on the actual position of the distance encoder (actual position in user units, encoder 2) or alternatively based on the actual speed or the actual torque. Alternatively, you can determine the duration of a visible oscillation, e.g. on the mast of a storage/retrieval system.
  7. Reactivate the distance encoder for position control and enter the determined value of the period duration as the time constant under [Drive trains] > [Drive train 1] > [Distance encoder] > [Combined encoder evaluation]. Alternatively, you can enter the value for the time constant under [Drive trains] > [Optimization DT1] > [Combined encoder evaluation].
  8. Transfer the parameterization of the drive train to the inverter using the [Apply changes] button.
  9. If necessary, perform referencing again after transferring the drive train.