July 2013 6.8 The control loop 869
If PDT
1
feedforward or the increase of the current controller factors is
activated, you must keep in mind that the noise in the current increases when
the bandwidth is increased. You have to find a compromise between the
increase of the current controller bandwidth and
the development of noise in the drive.
To adjust the increased current controller factors, proceed as follows:
To activate the function, enter MP2450 = 1 for the corresponding parameter
of the axis.
Readjust the current controller with TNCopt (Bode diagram function; see
TNCopt User's Manual).
MP2440.x Cutoff frequency of the feedforward current controller
Input: 0.1 to 5000.0 [Hz]
0: Feedforward control not active
MP2450.x Dead-time compensation
Input: 0: Not active
1: Active
If you activate the PDT
1
feedforward by entering a value in parameter
MP2440, it is not necessary to readjust the current controller. The PDT
1
feedforward does not have a noticeable effect on the current control loop
but rather only on the superimposed speed control loop. For axes with
rigidly connected mechanics, you attain higher controller factors in the
speed control loop if the PDT
1
feedforward is activated.
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