Keba ServoOne User Manual

6.8.1Sensorlesscontrolsynchronousmotor
NOTE
l SensorlesscontrolwithanexpandedKalmanfilterrequiresthe
followingfirmwareversions:

o
ServoOne:V3.25-95orhigher

o
ServoOneHF:V195.05-97orV193.05-01orhigher

o
ServoOnejunior:V1.30-98
Value Value replacement text Description
0 READY Waitsforinput
1 TAKEOVER_ENCCH1
Switchestoencoderchannel1in
real-time
2 TAKEOVER_ENCCH4
Switchestoencoderchannel4in
real-time
3 PRESET
Generalinitializationforencoder
channel4withsensorlesscontrol;
thefollowingarecarriedout
duringthisinitializationroutine:
l Thetestsignalgenerator
isconfigured
l TheQmatrix,Rmatrixare
calculated
l TheKalmanfilteris
initialized
Table 6.29: Control word ENC_CH4_Ctrl (P783)
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
93
6 Encoder
Value Value replacement text Description
4 START_KAL
StartsandinitializestheKalman
filterwithoutdeterminingthe
noisecovariancematricesand
withoutconfiguringthetestsignal
generator
5 STOP_KAL StopencodermoduleCH4
6 CALC_RQ
Calculatesnoisecovariance
matricesRandQbasedonthe
configuredmotorparameters
Table 6.29: Control word ENC_CH4_Ctrl (P783) (continue)
P No. Index Name Unit Description
339  CON_SCON_Kalman  Kalman:Setting
 0 Tf_Kalman ms Kalman:Integrationtime
 1 KpScale_Kalman % Kalman:Gain
350  CON_SCALC_SEL  Usedtoselectthespeedcalculationmethod
 0 SEL_ObserverMethod  Selectionofspeedcalculationmethod
508 0 ENC_CH4_Sel  Selectionofencodertype
783 0 ENC_CH4_Ctrl  Control
790 0 ENC_CH4_Kalman_R  Sensorlesscontrol:R-Matrix
791  ENC_CH4_Kalman_Q  Sensorlesscontrol:Q-Matrix
791 0 Q[0,0]  Sensorlesscontrol:Q-Matrix(id)
791 1 Q[1,1]  Sensorlesscontrol:Q-Matrix(iq)
791 2 Q[2,2]  Sensorlesscontrol:Q-Matrix(omega)
791 3 Q[3,3]  Sensorlesscontrol:Q-Matrix(epsilon)
791 4 Q[4,4]  Sensorlesscontrol:Q-Matrix(TLast)
792  ENC_CH4_Kalman_
SigInj
 Sensorlesscontrol:Testsignalgenerator
792 0 Signal  SCtestsignal:Signalcalculationselection
792 1 Frequency Hz SCtestsignal:Sinusoidalsignalfrequency
Table 6.30: “Sensorless synchronous motor control” parameters

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English