Description of the Software Modules and Parameters
Parameter manual b maXX BM3000
Document no.: 5.12001.07
209
of 820
4
The calculation of the Ks factor is incorrect due to the friction forces. So that the friction
forces do not invalidate the Ks measurement the evaluated factor should (measured Ks
factor)
Z52.8– be made from the averaging between the evaluated Ks factors at the ac-
celeration procedure Z52.6– and the braking procedure Z52.7–.
Acceleration: Starting speed = N1, end speed = N2
Braking: Starting speed = N2, end speed = N1
The prerequisites for the Ks measurement are:
1 Current controller and motor control have correctly set parameters.
2 Set Value generator and ramp function generator have parameters set (ProDrive offers
recommended settings for both options).
3 Drive is running with speed control (or position control) with set value generator and
with provisionally set Ks factor and speed control parameters. As a recommended val
-
ue the speed controller can be preset with Kp = 60 1/s, Tn = 0.3 s and the parameter
Ks factor
Z18.40– can be preset with twice the estimated value or the experienced val-
ue.
4 After the successful measurement the measured Ks factor Z52.8– can be taken over
(copy in Z18.40–). At the same time Kp and Tn of the speed controller can be param-
eterized e. g. after symmetric optimum (for this ProDrive provides a calculation tool).
Furthermore, the generation of the inertia torque of the drive (Z52.11– "Inertia mea-
sured"), the sliding friction factor (Z52.10– "Load friction") of the Ks measurement is eval-
uated.
Ks
a
I
sq-Lim
---------------
Ks
measured
(P52.8) Ks
Accel.
Ks
Decel.
+2=
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