Figure 55: Cyclic synchronous torque mode - Overview ............................................................. 172
Figure 56: Transfer torque setpoint telegram -> current controller .............................................. 176
Figure 57: Torque control and overspeed interception ................................................................ 177
Figure 58: Operating mode jog mode .......................................................................................... 178
Figure 59: Drive profiles in jog mode ........................................................................................... 182
Figure 60: Torque limit in all quadrants ........................................................................................ 185
Figure 61: Auxiliary representation for the calculation of ru83[] ................................................... 194
Figure 62: Order designation ....................................................................................................... 220
Figure 63: Structure data word BiSS ............................................................................................ 222
Figure 64: distance-coded reference marks at Heidenhain ......................................................... 240
Figure 65: distance-coded reference marks ................................................................................ 241
Figure 66: Equivalent circuit diagram motor ................................................................................ 271
Figure 67: Equivalent circuit diagram synchronous motor ........................................................... 279
Figure 68: Structure overview motor model ................................................................................. 295
Figure 69: Generation of the magnetizing current ....................................................................... 300
Figure 70: Generation of the d-component .................................................................................. 301
Figure 71: Procedure of the offset measurement ........................................................................ 313
Figure 72: simplified representation of the torque offset compensation ...................................... 317
Figure 73: Field weakening range asynchronous motor .............................................................. 319
Figure 74: Maximum voltage controller ........................................................................................ 321
Figure 75: Limit value at synchronous motors ............................................................................. 322
Figure 76: Maximum torque depending on the DC link voltage for the synchronous motor ........ 324
Figure 77: Adjustment of the torque limiting characteristic .......................................................... 325
Figure 78: Limit characteristic curve ............................................................................................ 327
Figure 79: Safety distance to the limit characteristic .................................................................... 328
Figure 80: Flux controller (ASM) .................................................................................................. 329
Figure 81: Torque constant depending on the active current ...................................................... 332
Figure 82: Cogging torque compensation .................................................................................... 335
Figure 83: v/f – Influence of the additional setpoint ..................................................................... 341
Figure 84: v/f – Influence of the DC link voltage compensation ................................................... 342
Figure 85: v/f – Influence of the maximum degree of modulation ................................................ 342
Figure 86: v/f - Influence of dr48 v/f characteristic mode ............................................................. 343
Figure 87: Model deactivation depending on the motor type ....................................................... 348
Figure 88: Model deactivation depending on the motor type ....................................................... 349
Figure 89: Model deactivation depending on the motor type ....................................................... 350
Figure 90: Torque limit depending on the setpoint value ............................................................. 353
Figure 91: Stabilisation current depending on speed ................................................................... 354
Figure 92: Model stabilisation term depending on motor speed .................................................. 355
Figure 93: Time allocation ............................................................................................................ 374
Figure 94: Connection example sinus filter .................................................................................. 381
Figure 95: Motor de-excitation time ASCL ................................................................................... 393
Figure 96: Speed controller overview ........................................................................................... 395
Figure 97: Pi-speed controller ...................................................................................................... 396
Figure 98: Variable proportional factor ......................................................................................... 398
Figure 99: Variable proportional factor (kp) / integral factor (ki) with cs08=10%, cs09=20% ...... 399
Figure 100: High-run test with COMBIVIS ................................................................................... 401
Figure 101: PT1 output filter ......................................................................................................... 402
Figure 102: Torque precontrol mode 1......................................................................................... 403
Figure 103: Torque precontrol mode 2......................................................................................... 404
Figure 104: Torque precontrol smoothing .................................................................................... 405
Figure 105: Not linear torque precontrol ...................................................................................... 407
Figure 106: Overshoots in the speed setpoint ............................................................................. 410
Figure 107: Speed setpoint deceleration ..................................................................................... 410
Figure 108: Optimal precontrol behaviour .................................................................................... 411
Figure 109: Torque limit in the lower speed range ....................................................................... 412
Figure 110: Position control overview .......................................................................................... 416
Figure 111: KP reduction in the position controller ...................................................................... 420
Figure 112: Structure position / speed control ............................................................................. 422
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