Lenze i950 - Page 263

Equaon for calculang the reset me
( )
= × +
2
n Filter Stromregler
T a T T
Parameter Symbol Descripon Dimension unit
0x2900:001 V
p
Speed controller gain
Nm / rpm
- J Moment of inera = J
mot
or
+
sum (J
load
)
kgm
2
- a Measure for the phase reserve
(recommendaon: a = 4≡ 60° phase
reserve)
0x2904 T
Filter
Filter me constant - actual speed
value
s
- T
current controller
Equivalent me constant of the cur-
rent control loop = 0.0005 s
s
0x2900:002 T
n
Reset me - speed controller s
Special case of the linear motor
In this case, a re-calculaon from a linear system to a rotary system must be made. Therefore,
via the f
eedback system a degree of freedom results for the determinaon of the number of
pole pairs. For a rotary system, the number of pole pairs species the rao of electrical and
mechanical revoluon, the number of encoder increments being dened via one mechanical
revoluon. In the case of a linear system, the user is free to decide for which length he or she
wants to specify the number of encoder increments. Usually, the number of increments is
given for a pole distance or for the total length of the linear scale. If the number of increments
= "number of increments for one pole distance" is selected, a motor with the number of pole
pairs zp = 1 is created. The eecve moment of inera for a linear motor can be calculated
according to the following equaons. With this J value, the equaons shown above can be
used to calculate the speed controller gain and reset me.
Equaon for calculang the eecve moment of inera
× × t
æ ö
= ×
ç ÷
ç ÷
p
è ø
2
Polpaar
zp 2
J m
2
= ×
×t
Polpaar
s
zp Ganzzahl
2
Parameter Symbol Descripon Dimension unit
- s Length on which the specicaon
for the number of encoder incre-
men
ts is based (e.g. per pole dis-
tance or total length).
m
- 2 τ
Pole pair
Pole distance of the permanent
magnets, pole pair width
m
- J Moment of inera = J
Forcer
+ J
Slide
+
J
Load
kgm
2
- m Moving mass = m
Forcer
+ m
Slide
+
m
Load
kg
Parameter
Address Name / seng range / [default seng] Info
0x2900:001 Speed controller sengs: Gain
0.00000 ... [0.00033] ... 20000.00000 Nm/rpm
Gain factor Vp of the speed controller.
0x2900:002 Speed controller sengs: Reset me
1.0 ... [17.6] ... 6000.0
ms
Reset me Ti of the speed controller.
0x2900:003 Speed controller sengs: Rate me
0.00 ... [0.00] ... 3.00 ms
Seng of the rate me for the speed controller.
0x2901 Speed controller gain adapon
0.00 ... [100.00] ... 200.00 %
Mappable parameter for adapve adjustment of the speed controller
gain.
Conguring the motor control
Opons for opmising the control loops
Mot
or control sengs
263