Keba ServoOne User Manual

7.3.7Torquecontrolwithdefinedbandwidth
The controller gain is determined by activating test signals (Autotuning). The
calculations and the relevant autotuning are carried out in the drive controller. The
advanced settings are made in P1530[0] - SCD_SetMotorControl, P1531[0] -
SCD_Action_Sel and P1533[0] - SCD_AT_Bandwidth.
l The3dBbandwidthoftheclosedloopisspecifiedasthebandwidth.
l Advisablebandwidthsettingsat8kHzswitchingfrequencyareupto
approximately2000Hz;at16kHzswitchingfrequencyuptoapproximately
3000Hz.
l TheP-gainCCON_Kpiscalculatedaccordingtotheamountoptimum.
l Theintegral-actiontimeCCON_Tnisinterpolatedbetweentheamount
optimumandthesymmetricaloptimum,sothattheI-contentissufficient,
resultinginreducedinterferenceresponse.
P no. Index Name / Setting Unit Function
1530 0 SCD_SetMotorControl  Torquecontrollersettingwithdefinedbandwidth
  Fault(-1)  Errorduringcalculation
  Ready(0)  Calculationready
  CALC_CON(1)  Controlwithmotordatacalculation
  CALC_ASM(2)  Calculateasmmotorfromrateddata
  BANDWIDTH(3)  Calculatecurrentcontrollerbybandwidth
  DEADBEAT(4)  Thissettingparameterizesadead-beat
controller.Thestructureisswitchedto
feedbackwithobserver,theobserveris
designed(toaspecificequivalenttimeconstant
–forsettingseeP 434[0] - CON_CCON_
ObsPara–andthespeedcontrollergainsare
calculatedaccordingly.
1531 0 SCD_Action_Sel  Startconditionstodeterminethetorque
controllersettings
  FAULT(-1)  Selectedfunctionstoppedwithfault
  READY(0)  Readytostartfunction/lastcallsuccessfully
ended
Table 7.10: “Torque control with defined bandwidth” parameters
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
131
7 Control
P no. Index Name / Setting Unit Function
  ENC_OFFSET(1)  Startencoderoffsetdetermination(powerstage
willbeswitchedon!)
  MOT_ID(2)  Startelectricalmotoridentification(powerstage
willbeswitchedon!)
  IMP(3)  Measureimpedance
  LH_TUNE(4)  TuneLmcharacteristics
  ASM_OP(5)  Setoperationpointforasynchronousmotor
  BANDWIDTH(6)  Tunecurrentcontrollerbybandwidth
  MOTPHASE(7)  Checkmotor/encoderwiring
  COM_ALL(8)  Motorid.,enc.-offsetandinertiadetection,
motorphasecheck
  J_SUM(9)  Identificationofwholeinertia
  CANCEL(10)  Cancelthecurrentaction
1533 0 SCD_AT_Bandwidth Hz Bandwidthpresetfortorquecontrolloop:
Range:10-4000Hz
Table 7.10: “Torque control with defined bandwidth” parameters (continue)

7.3.8Enhancedfeedforwardcontrolofvoltage
For high-power applications, the current control setting is often limited. If, at the same
time, a high bandwidth is required for the control of test signals, for example, feed-
forward voltage control is helpful.

ID Index Name Unit Description
434  CON_CCON_Para  Currentobserverparameters
434 0 TF ms Currentobservertimeconstant
434 1 Kp 1/s Currentobserverfeedbackgain
434 2 Tn ms Currentobserverfeedbacktimeconstant
Table 7.11: Parameter - Enhanced feed forward control

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English