Keba ServoOne User Manual

Step Action
3
Configuretheautocommutationfunction
Mode 1
As described in Section "Auto commutation" on page 94 or
Recommendation:
P390[0] = 1
P392[0] =500
P392[1] =500
P392[2] =500
P392[3] =500
P393[0] = Rated motor current
P393[1] = Rated motor current
Mode 2
Parameters 792.1 and 792.2 are used as the measuring frequency and
measuring amplitude (see step 2)
Recommendation:
P794[0] = 100ms
P794[1] = 50% of rated motor current
P794[2] = 250ms
4
Startingtheexpandedspeedcontrolcircuitisnotabsolutelynecessary,
butwillresultincontrolwithbetterdynamicperformance.Thecircuitcan
bestartedbysettingP 350[0] - SEL_ObserverMethodtoavalueof4.
P 339 - CON_SCON_Kalmancanbeusedfortuningpurposes.
5
Ifnecessary,adjustthenoisecovariancematricesandthefiltertime
constantsfortheexpandedspeedcontrolcircuit(changeswilltakeeffect
inreal-time).
Table 6.31: Configuring the Kalman filter for sensorless control (continue)
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
99
6 Encoder
In order to make the encoderless control commissioning process easier, a function
used to calculate the position difference between encoderless control and a real
encoder can be activated. To use this function, the encoder channel that will be used
for the comparison must be selected in P797[0] - ENC_CH4_Kalman_Compare.
Make sure that the encoder channel is configured correctly! This also includes the
encoder mounting angle P349[0] - CON_FM_MConOffset. In addition to the
position difference, the encoder angle is also used to determine the d current and q
current as scope variables.
6.8.2Sensorlessasynchronousmotorcontrol
In sensorless mode, the other variables (position, speed, torque) are calculated
based on characteristic motor data and the measured currents and voltages on the
motor. A problem is determining position at standstill or at low speed.
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Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English