Lenze 9300 Servo PLC - 2.13.6 Speed-setpoint restriction; 2.13.7 Phase-angle controller

9300 Servo PLC
System blocks
2.13 Internal motor control (MCTRL_MotorControl)
2-53

9300ServoPLC EN 1.4
2.13.6 Speed-setpoint restriction
The speed setpoint restriction in the input MCTRL_nNSet_a is to ±100% of n
max
(C0011)
(n
max
= 100% = 16384).
You can use C0909 to set a restriction of rotational direction, referred to the speed setpoint.
2.13.7 Phase-angle controller
The phase controller is required to achieve a phase synchronization and driftfree standstill.
Tip!
Select a configuration with digital frequency coupling (*.lpc), since this allows an automatic
connection of all important signals. On this basis, you can optimize the system.
Activate phase controller
1. Assign
MCTRL_nPosLim_a to a signal source that provides the phase-angle difference
between the set and actual phase-angles.
2. At
MCTRL_nPosLim_a enter a value > 0.
3. Switch
MCTRL_bPosOn_b =TRUE.
4. Set the gain (C0254) for the phase-angle controller > 0.
(
^
2-51)
– Before setting C0254, select a P-gain (C0070)for the n-controlleras high as possible.
– During operation increase C0254, until the drive shows the desired control behaviour.
Phase controller influence
The output of the phase controller is added to the speed setpoint.
• If the actual phase is lagging, the drive is accelerated.
• If the actual phase is leading, the drive is decelerated, until the desired phase synchronization
is achieved.
The influence of the phase controller consists of:
• Phase difference multiplied by the P-gain V
p
(C0254).
• Additional influence of an analog signal at MCTRL_nPAdapt_a .
(V
p
= C0254 * MCTRL_nPAdapt_a / 16384)
• Limiting of the phase-angle controller output to ± MCTRL_nPosLim_a .
Limiting of the phase-angle controller output
This limits the maximum catch-up speed of the drive in the event of large phase differences.
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