July 2013 11
7 CC 61xx / UEC 1xx controller units....1067
7.1 Specifications ................................................................................1067
7.2 Connecting the encoders .............................................................1069
7.2.1 General information.........................................................1069
7.2.2 Position encoders............................................................1069
7.2.3 Speed encoders ..............................................................1070
7.3 Relationship between speed input, position input and
PWM output ..................................................................................1071
7.4 Single-speed, double-speed, PWM frequency............................1072
7.4.1 General information.........................................................1072
7.4.2 Single-speed and double-speed (software option 49) .....1074
7.4.3 Combination of several CC 61xx controller units ............1078
7.4.4 PWM frequency ..............................................................1082
7.5 PLC cycle time ...............................................................................1087
7.6 Monitoring functions....................................................................1087
7.7 Special functions...........................................................................1088
7.7.1 Multifunction filter...........................................................1088
7.7.2 Filter order for separate low-pass filter in the speed
controller .........................................................................1093
7.7.3 Dynamic determination of load .......................................1093
7.7.4 LIFTOFF function.............................................................1098
7.7.5 TRC – Torque Ripple Compensation ...............................1101
7.7.6 Peculiarities in weakened-field operation........................1103
7.7.7 Crossover Position Filter (CPF)........................................1104
7.8 Stick-slip friction compensation at quadrant transitions .........1106
7.9 Field orientation............................................................................1108
7.9.1 Possibilities for determining the field angle ....................1110
7.9.2 Determination of the field angle without motor
motion (MP2254.x = 0) ...................................................1113
7.9.3 Determination of the field angle with motor motion
(MP2254.x = 2/3).............................................................1115
7.9.4 Reading or setting the field angle via the PLC ................1118
7.9.5 Saving the determined field angle...................................1120
7.9.6 Definition of the field angle .............................................1121
7.10 Adjustment of linear and torque motors....................................1122
7.10.1 General information.........................................................1122
7.10.2 Safety precautions for linear and torque motors.............1126
7.11 Commissioning linear and torque motors..................................1128
7.11.1 Machine parameters for linear motors............................1128
7.11.2 Machine parameters for torque motors ..........................1129
7.11.3 Adjustment of the current controller...............................1130
7.11.4 Adjustment of the speed controller.................................1133
7.12 Determining entries for motor tables .........................................1140
7.12.1 Determining data for linear motors .................................1140
7.12.2 Determining data for torque motors................................1143
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