Description of the Software Modules and Parameters
Parameter manual b maXX BM5800
Document No.: 5.16029.03
187
of 814
3
The identified parameters are used internally for the motor control, if bit 3 is active.
The following parameters are written to:
1 Z47.7– Kp q-current controller = Z47.9– Kp d-current controller
The P-gains entered always refer to 4 kHz PWM. The adjustment of the PWM frequen-
cy to other frequencies takes place internally, automatically.
2 Z47.8– Tn q-current controller = Z47.10– Tn d-current controller
3 Motor parameters that are relevant to decoupling feedforward, IxR feedforward and
current prediction in the current controller:
– Synchronous motor
Z107.29– Stator resistance
Z107.34– Inductance Lq
Z107.35– Inductance Ld (with Parameter 107.35 = Parameter 107.34)
– Asynchronous motor
Z107.29– Stator resistance
Z107.30– Stator leakage inductance
Z107.31– Rotor resistance
Z107.32– Rotor leakage inductance
A total of 4 parameters are entered in the current controller module and 3 or 4 parameters
in the motor identification plate module. Additionally, it is possible to calculate the current
controller with the identified parameters in ProDrive.
123.12 Time constant of step response
This parameter displays the identified time constant for asynchronous motors. The cur-
rent level for this is approx. 80% (current rise from 75% to 85%) of the maximum current
(
Z123.4–). For synchronous motors the current level is 85% (current rise from 75% to
95%) of the maximum current and from that the value can be compared with the result
current controller Tn (
Z123.9–) in order to assess the saturation effects. A clear satura-
tion effect is present if the step response time constant is clearly less than the value of
the result current controller Tn (
Z123.9–) parameter. The parameter Z123.9– has in ef-
fect been measured with a current of 50% of the maximum current (Z123.4–).
123.14 Normalized Error
This parameter shows the normalized error that has been established while determining
the step response time constant (
Z123.12–). The quality of the evaluation can be as-
sessed from the value and a value of less than 5% can be considered good.
NOTE!
There is no way to prove, if autotuning was successful.
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