Baumuller b maXX BM5800 - Parameter Overview of the Controller Adaptations

Controllers
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
500
of 814
3.7
Dead time voltages
Dead time voltages are non-linear occurrences in the output voltage of the converter. This
can have several causes such as the locking time when switching the IGBTs, differences
of on and off times of the IGBTs and diodes and the threshold voltages of the IGBTs and
diodes. These non-linear voltages distort the voltage output of the PWM modulator. They
are considerably low compared to the nominal motor voltage. However, the encoderless
procedures and the accuracy of power displays that are based on the motor voltage - in
particular at lower speeds - can be affected.
Friction effects
Friction is a contrary-focused force which is non-linear to the motor movement (torque).
It is dependent of the moving direction as well as the condition (motor moves or stops). It
is compensated by the integral component of the speed controller. The friction can be pre
-
controlled by an additive additional torque set value by the controller so that it does not
have to be compensated by the integral component, especially if the direction is changed.
This results in a lower tracking error.
The stick-slip phenomenon is a jerking motion due to alternation between sticking and
sliding. The phenomenon can be compensated by an adaption of the P and I components
of the speed controller.
This is described in detail in ZFriction compensation– from page 407.
Torque ripples
Synchronous motors provide torque ripples; these are the forces between the magnet
and the teeth that cause an irregular running. If the torque ripples are dependent of an
electrical angle they can be compensated by an additional torque current in the controller.
This is described in detail in
ZTorque ripple compensation– from page 120.
3.7.7.1 Parameter Overview of the Controller Adaptations
Functional blocks: FbStromBegr [138] 
Functional blocks: FbReglerAdaption [155]
Number Name Type Min Max Default Value Unit Factor
Read only Storage DS Support Cyclic Write Axis-independent
138.23 Kt correction factor FLOAT 0 100 1 1:1 X
155.1 Mode UINT 0 0xFFFF 0 1:1 X
155.2 State UINT 0 0xFFFF 0 1:1 X
155.10 Ks actual value FLOAT 0.01 1e9 1e4 Grad/
s
2
/A
1:1 X
155.14 Ks adaption cyclic UDINT UDINT 0xFFFFFFFF 65536 % 655.36:
1
X X
155.24 Kt actual value FLOAT 0.0 1000.00 0.00 Nm/A 1:1 X