Protection functions
The different warning level can be set in the pn parameters. In addition, protection
functions can be activated / deactivated (e.g. speed monitoring, motor temperature
sensor, etc.). Also the quick stop ramp is parameterized here. When the quick
stop ramp becomes active (only in case of an error or shut down and disable oper-
ation) is defined in co32 state machine properties.
Controller
The adjustment of the current controller occurs automatically. The controller gain
can be adjusted with ds14 current cntrl factor in order to adjust special motors or
applications. The value becomes only active if dr99 = 0 is written again afterwards.
The speed controller can be optimized manually or via cs99 optimisation factor.
When using the optimisation factor, the adjustment of the controller automatically
adjusts to the changed speed smoothing times. Longer smoothing times (ec26 /
ec27) at constant cs99 result in weaker controller setting. A longer smoothing and
by way better high-frequency suppression can offer a smaller value for cs99 and
thus more dynamic control. If the field weakening range shall be used, eventually
the maximum voltage controller must be adapted to the dynamics of the application
(=> Chapter 6.2.10.3.2 Maximum voltage controller).
Deadtime compensation
The deadtime compensation should be switched on for operating modes with mo-
tor model.
Switching conditions
The output management (determination of the switching conditions, assignment,
filtering, etc.) is carried out in the do parameters.
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