Keba ServoOne User Manual

Adaptation of parameters
Acceleration and braking phases generate a variation which the speed control has
to balance out. With speed pre-control the necessary acceleration or braking
moment determined from the change in speed over time is applied to the output of
the speed controller.
If the travel range is not limited, it is advisable to optimize the speed controller by
means of step responses. In this, the motor model must be adapted precisely to the
individual motor. In the standard motor data set, the speed controller is preset for a
moderately stiff mechanical system. The speed controller may need to be adjusted to
the moment of inertia and the rigidity of the mechanism.
All parameters take effect online. The scaling parameter P322[0] - CON_SCON_
KpScale is transferred in defined real time (according to the speed controller
sampling time).
The following steps are needed to set the speed control loop depending on the
application:
No. Action
1
Adaptthespeedcontrollergaintotheexistingexternalmassinertia.For
this,eithertheknownmomentofinertiafromthemotordatacanbeused
directlyortheautomaticmassinertiadefinitionfunctionintheMotor
Identificationsubjectareacanbeused.
2
Ifthesystem'smomentofinertiaisdefinedmanually,itmustbereduced
tothemotor.
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
134
7 Control
Image 7.21: Relevant variables
J
M
Momentofinertiaofmotor
J
red
Reducedmomentofinertiaofsystem
i
Geartransmissionratiofactor
J
2
Reduced moment of inertia
Legend for “Relevant variables”
ID Index Name Unit Description
2695  CON_SCON_ScaleTF  Scalingfiltertimeconstant
2695 0 ScaleMaxSpeedFil ms Speedscalingfiltertimeconstant
2695 1 ScaleMaxTorqueFil ms Torquescalingfiltertimeconstant
320 0 CON_SCON_Kp Nm/rpm Speedcontrolgain
321 0 CON_SCON_Tn ms Speedcontrolintegrationtimeconstant
322 0 CON_SCON_KpScale % Speedcontrolgainscalingfactor
351 CON_SCALC_TF Speedcalculationfiltertimeconstant
351 0 CON_SCALC_TF ms Filtertimeconst.speedcontrol
351 1 CON_SCALC_TF ms Filtertimeconst.fieldmodel(hydraulic)
351 2 CON_SCALC_TF ms Filtertimeconst.speedfrompositioncontrol
Table 7.12: “Speed controller” parameter

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English