Keba ServoOne - Setting

LegendforfigureControlStructure
PositionController/Feed
ForwardControl
see7.5Positioncontrollersettings
Positioncontroller see7.5Positioncontrollersettings
Speedcontroller see7.4Speedcontroller
Digitalfilter see7.4.2Digitalfilter
CurrentController see7.3Torquecontroller
Filter/observer
see 7.3.6  Advanced torque control
Fieldweakening,
asynchronous
see7.6Asynchronousmotorfieldweakening
Fieldweakening,
synchronous
see7.7FieldweakeningandLookUpTable(LUT),
synchronousmotor
Scanning times of the individual control circuits:
Switching frequency
Sampling time
Current Controller Speed controller Position controller
2kHz 250
µ
s 250
µ
s 250
µ
s
4kHz(12kHz) 125
µ
s 125
µ
s 125
µ
s
8 kHz
62.5µs 125µs 125µs
16kHz 62.5
µ
s 125
µ
s 125
µ
s
Table 7.1: Scanning times of the individual control circuits
The control system is set up in a cascaded configuration. The position, speed and
current controllers are configured in sequence. The sequence of controller setup
must always be observed in controller optimization.
1. Currentcontrollersetup
2. Speedcontrollersetup
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
111
7 Control
3. Settingforpositioncontroller/Pre-control
7.1.1Setting
When using a standard KEBA motor data set, the control parameters are preset for
the specific motor model (external mass inertia = motor inertia). If using third-party
motors, a manual setting must be made for the drive by way of the motor
identification or by calculation in order to define the appropriate control parameters
for the motor model.
7.1.1.1Speedcontrolloop
The setting of the speed controller with the associated filters is dependent on the
motor parameters (moment of inertia, torque/force constant, load inertia/mass,
friction, rigidity of the connection and encoder quality). Consequently, a manual or
automatic optimization is often required.
7.1.1.2Positioncontrolloop
The position control loop is dependent on the dynamism of the underlying speed
controller, on the setpoint (reference) type and on the jerk, acceleration and
interpolation methods.