Parameter manual b maXX BM3000
Document no.: 5.12001.07
811
of 820
Table of Figures
the control structure page ........................................................................................................ 239
Basic sequence of the fieldbus task (fieldbus cycle 1ms, RT0 cycle 250 µs) .......................... 244
Set value and actual value transfer from the fieldbus to the controller. The configuration fieldbus cycle
1 ms, RT0 cycle 250 µs, sync offset 0 µs is shown in the example......................................... 245
Separated transmission of set values and actual values. ........................................................ 246
Optional separated transmission of set values and actual values. .......................................... 246
Producer list and consumer list................................................................................................ 249
Direction of revolution .............................................................................................................. 257
ProDrive Measuring Encoder................................................................................................... 258
PID controller functional diagram............................................................................................. 271
Structure of the control of the torque coupling at connecting the torque coupling via compensating
controller .................................................................................................................................. 281
Structure of the control of the torque coupling at connecting the torque coupling as torque additional
set value................................................................................................................................... 282
Torque init stress of the torque coupling.................................................................................. 283
Cross communication via EtherCAT ........................................................................................ 284
Three-point with hysteresis and dead zone ............................................................................. 291
Three-point with ramp .............................................................................................................. 292
Two-point with hysteresis......................................................................................................... 292
Friction torque compensation with PT
1
filter and response...................................................... 293
Speed controller gain at stick-slip effect................................................................................... 294
Boolean operation of the configurable status bits Z165.2– via the operators of Z165.5–. ..... 302
Factor Group effect of position weighting................................................................................. 320
Factor Group effect of the speed and acceleration weighting.................................................. 321
ProDrive Factor Group and touch probe DS402...................................................................... 323
Introduction to the Device Control System............................................................................... 333
State Machine of the Device Controller.................................................................................... 334
Active data set.......................................................................................................................... 363
Starting the drive in the "Automatic" brake control mode......................................................... 376
Braking procedure in the "Automatic" brake control mode....................................................... 378
ProDrive Brake management................................................................................................... 380
ProDrive Signal bus ................................................................................................................. 392
ProDrive Set Value Manager ................................................................................................... 394
Trapezoidal Profile of Ramp Function Generator..................................................................... 401
Ramp Function Generator S-Curve Profile .............................................................................. 402
Ramp function generator page in ProDrive.............................................................................. 406
Change of direction without rounding-off of the speed at zero-crossing.................................. 411
Change of direction with rounding-off of the speed at zero-crossing....................................... 412
Absolute value of min. / max. input .......................................................................................... 416
Speed set value sequence for set value generator.................................................................. 417
Overview of the Position / Speed controller in the drive........................................................... 441
Block diagram of the fine interpolator in the position / speed controller................................... 442
Block diagram of the speed controller when in speed control (18.4 = 13) ............................... 443
Block diagram of the position /speed controller when in position control (18.4 = 12) .............. 444
Physical units in the control circuit ........................................................................................... 445
Block diagram of the position / speed controller when in torque control.................................. 445
Block diagram of the position / speed controller module when in synchronous operation with a real
master shaft ............................................................................................................................. 446
Characteristics of Kp (Kv is analog) and Tn depending on the speed ..................................... 447
ProDrive position controller with detailed settings.................................................................... 449
ProDrive speed controller with detailed settings ...................................................................... 450
ProDrive Position speed controller adaption............................................................................ 451
Torque current limit "lsqLim" at the "Standard load mode" of the synchronous motor (138.1 bit 3 = 0).
a) Dependent of the field current (an external total current limit is not assumed).
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