Keba ServoOne - Torque Controller; Current Controller Optimization

7.3Torquecontroller
The torque controller is executed as a PI controller. The gain (P-component) and the
integral-action time (I-component) of the individual controllers are programmable. In
order to optimize the current control loop, two rectangular reference steps are preset.
The object of the optimization is a current controller with moderate dynamism and
the following values:
l Currentcontroltime:<1ms
l Overshoot:<5%
Image 7.5: “Current/torque controller settings” screen
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
115
7 Control
7.3.1Currentcontrolleroptimization
The faster the actual value approaches the setpoint, the more dynamically the
controller is set. The overshoot of the actual value should not be more than 5-10 %
of the setpoint (general figure) during the settling process.
l Thefirststep(stage1,time1)movestherotortoadefinedposition.
l Thesecondstep(stage2,time2)isusedtooptimizethetorquecontrol(step
response).Themagnitudeofthe2ndstepshouldnotbetoolarge,soasto
ensurethatthevoltagesetpointwillnotgoallthewaytothelimit(low-level
signalresponserequired).
l Thecurrentandtimesettingsautomaticallyadjusttothemotordata.The
currentisequaltoI
n
• .
l ISDSHandENPO(hardwareenable)mustbesetto"High".
l Click"Starttestsignal"button
l Observethesafetynotice:Whenyouconfirmthesafetynoticeastep
responseisexecuted.
l Theoscilloscopeissetautomatically.