Keba ServoOne User Manual

ID Index Name Unit Description
471 0 MOT_Lsig mH Motorleakageinductance(ASM)/stator
inductance(PSM)
472  MOT_LsigDiff  q-axisstatorinductancevariation(relativeto
MOT_Lsig)
472 0 Lsig_q@I0 % Inductance@CurrentI0
472 1 Lsig_q@I1 % Inductance@CurrentI1
472 2 Lsig_q@I2 % Inductance@CurrentI2
472 3 Lsig_q@I3 % Inductance@CurrentI3
472 4 CurrentI0 % CurrentI0relativetoMOT_CNom
472 5 CurrentI1 % CurrentI1relativetoMOT_CNom
472 6 CurrentI2 % CurrentI2relativetoMOT_CNom
472 7 CurrentI3 % CurrentI3relativetoMOT_CNom
Table 7.6: “Advanced torque control - Saturation characteristic” parameters
7.3.6.1.2K-Tcharacteristic
In the overload range the output-side torque is reduced due to rising losses
(iron/copper losses). This behaviour can be compensated by P479[0] - MOT_
TorqueSat.
P No. Index Parameter name Unit Function
479  MOT_TorqueSat  Motortorqueasafunctionofthecurrent
 0to4  Nm Torque;interpolationpoints0to4.
 5to9  A Current;interpolationpoints5to9.
Table 7.7: “K-T characteristic” parameters
7.3.6.2Currentobserver
In the current control circuit, the calculation of voltage setpoints and PWM runtime
appears as dead time. This is the main factor determining the possible performance
of current control. The current observer eliminates this dead time to the greatest
possible extent by predicting current by means of a scanning step. In addition, many
synchronous servomotors exhibit harmonic components in the current control circuit.
The current observer suppresses these harmonic components so that they cannot
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
129
7 Control
be passed on to the current controller. The disadvantage of the current observer is a
possible deviation between actual current and observed current. This can lead to an
overcurrent shutdown if the maximum current of the device or motor is controlled
stepwise.
The current observer is activated by P 433[0] - CON_CCON_ObsMode = TIME.
Adjust the time constant P 434[0] - Tf in the range from 0.062ms to 0.5ms. The
higher the time constant, the greater the smoothing effect of the observer – however,
the greater the possible deviations between actual current and observed current. On
the other hand, effects that do not correspond to the model are suppressed for the
control.
Another peripheral condition is that the electrical data of the motor must be well
defined.
l Synchronousmotors:seeSection"Synchronousmotoridentification(rotary
andlinear)"onpage46.
l Asynchronousmotor:seeSection"Asynchronousmotoridentification"on
page46.
Motor inductance (if necessary in connection with the saturation characteristic)
should be parameterised slightly too high.
ID Index Name Unit Description
433 0 CON_CCON_ObsMode  Selectcurrentobservermode
434  CON_CCON_ObsPara  Currentobserverparameters
434 0 TF ms Observertimeconstant
434 1 Kp 1/s Proportionalfeedbackgain
434 2 Tn ms Integralfeedbacktimeconstant
434 3 Decoup % Scaledecoupling
434 4 StatFF % Scalestaticvoltagefeed-forward
434 5 DynFF % Scaledynamicvoltagefeed-forward
434 6 FilterFF ms Filtervoltagefeed-forward
Table 7.8: “Advanced torque control - Observer” parameters

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English