Lenze 9300 Servo PLC - 2.13.2 Additional torque setpoint; 2.13.3 Torque limiting; 2.13.4 Speed controller

9300 Servo PLC
System blocks
2.13 Internal motor control (MCTRL_MotorControl)
2-51

9300ServoPLC EN 1.4
2.13.2 Additional torque setpoint
MCTRL_nMAdd_a is used, depending on the operation of MCTRL_bNMSwt_b as a torque setpoint
or an additional torque setpoint. The additional torquesetpoint can beused, for example for friction
compensation or for speed injection (dv/dt).
• With MCTRL_bNMSwt_b = FALSE, the speed control is active.
–
MCTRL_nMAdd_a is added to the output of the n-controller.
– The limits given by the torque limiting
MCTRL_nLoMLim_a and MCTRL_nHiMLim_a cannot
be exceeded.
• With MCTRL_bNMSwt_b = TRUE, the torque control is active.
–
MCTRL_nMAdd_a acts as a torque setpoint.
– The n-controllers have a monitoring function.
• The torque setpoint is provided in [%] of the maximum torque (code C0057 = 100% = 16384).
– Negative values mean a torque with CCW rotation of the motor.
– Positive values mean a torque with CW rotation of the motor.
2.13.3 Torque limiting
Via MCTRL_nLoMLim_a and MCTRL_nHiMLim_a youcanset anexternaltorquelimiting. Thismeans
that different torques can be set for the quadrants ”driving” and ”braking”.
• MCTRL_nHiMLim_a is the upper torque limit in [%] of the maximum possible torque (code
C0057 = 100% = 16384).
• MCTRL_nLoMLim_a is the lower torque limit in [%] of the maximum possible torque (code
C0057 = 100% = 16384).
• the torque limiting is deactivated for a Quickstop.
Stop!
In MCTRL_nHiMLim_a set only positive values, and in MCTRL_nLoMLim_a only negative values,
otherwise the speed controller may lose control.The drive may accelerate out of control.
2.13.4 Speed controller
The speed controller is designed as an ideal PID - controller.
Parameter setting
When a motor from the table is selected under C0086, the parameters are set so that only very few
adaptations to the application are required.
• Parameterize proportional-gain Vp in C0070:
– Enter approx. 50% setpoint speed (100% = 16384 = n
max
)
– Increase C0070, until the drive becomes unstable (observe motor noises).
– Reduce C0070, until the drive becomes stable again.
– Reduce C0070 to approx. 50%
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