9300 Servo PLC
System blocks
2.13 Internal motor control (MCTRL_MotorControl)
2-52
9300ServoPLC EN 1.4
• Integral-action time T
r
, parameterize in C0071:
– Reduce C0071, until the drive becomes unstable (observe motor noises).
– Increase C0071, until the drive becomes stable again.
– Set C0071 to approx. twice the value.
• Differential-gain T
d
, parameterize in C0072:
– Increase C0072 during operation until an optimum control behaviour is achieved.
Via
MCTRL_nNAdapt_a
you can alter Vp through the PLC program:
• Vp =
MCTRL_nNAdapt_a
x C0070 (
MCTRL_nNAdapt_a
default = 100 % ≡ 16384)
• Vp = 100 % x C0070 ≡ Vp = C0070
Signal limit
When the drive outputs the maximum torque, the speed controller is at its limit.
• The drive cannot follow the speed setpoint.
• With
MCTRL_bMMax_b
=TRUE,thisstateisshown.
Set integral component
To enter defined starting values for the torque, the integral component of the n-controller can be set
externally (e.g. when using the brake control).
•
MCTRL_bILoad_b
=TRUE
– The n-controller accepts the value at
MCTRL_nISet_a
for its integral component.
–Thevalueat
MCTRL_nISet_a
acts as a torque setpoint for the motor control.
•
MCTRL_bILoad_b
= FALSE
– Function switched off.
2.13.5 Torque control with speed restriction
With
MCTRL_bNMSwt_b
= TRUE activates this function. For the speed restriction, a second speed
controller (auxiliary speed controller) is connected.
•
MCTRL_nMAdd_a
acts as a bipolar torque setpoint.
• n-controller 1 generates the upper speed limit.
– The upper speed limit is given at
MCTRL_nNSet_a
in [%] of n
max
(C0011)
(n
max
= 100% = 16384) (pos. sign for clockwise rotation).
– Use the upper speed limit only for the clockwise direction of rotation.
• n-controller 2 (auxiliary controller) generates the lowerspeed limit.
– The lower speed limit is given at
MCTRL_nNStartLim_a
in [%] of n
max
(C0011)
(n
max
= 100% = 16384) (negative sign for CCW/anticlockwise direction of rotation).
– Use the lower speed limit only for the CCW direction of rotation.
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