Keba ServoOne - Page 98

combination with a test signal when the motor is stopped. In addition, the total
moment of inertia resulting from the motor and the connected load must be set as
accurately as possible.
The encoder communications will be used to calculate and pass the actual speed
and actual position. Accordingly, in order to select the sensorless method, a value of
2 must be set for encoder channel 4 in the selector (P508[0] - ENC_CH4_Sel = 2),
and a value of 4 must be set for P520[0] - ENC_MCon, P521[0] - ENC_SCon and
P522[0] - ENC_PCon.
The Kalman filter needs to be configured further by following the steps below:
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
98
6 Encoder
Step Action
1
ConfigurenoisecovariancematricesQandR.Thisshouldbedone
automaticallybysettingthecontrolparameterforencoderchannel4
(P 783[0] - ENC-CH4-Ctrl)toavalueof6.
2
Manuallyconfigurethetestsignalgenerator:
Recommendation:Sinusoidaltestsignalindaxis
P792[09]=1
P792[19]=500Hz
P792[2]=P792[9]=10%ofratedmotorcurrent
P792[79]=15%ofratedmotorspeed
P792[89]=5%ofratedmotorspeed
P792[9]=30%ofratedmotorcurrent
Settheothervaluesto0
Orsetthecontrolparameterforencoderchannel4(P 783[0] - ENC-CH4-
Ctrl)toavalueof3,whichwilltriggerageneralinitializationroutinein
whichsteps1and2,aswellasencoderinitialization,willbe
automaticallycarriedoutbasedonthemotorparameters.
Table 6.31: Configuring the Kalman filter for sensorless control