5 General concepts
●
In object 2031
h
(Max Current), enter the maximum current in mA (see motor data sheet).
●
In object 3202
h
(Motor Drive Submode Select), set bit 0 (CL/OL) to the value "0".
●
If the clock-direction mode is to be used, then observe chapter Clock-direction mode.
If necessary, current reduction on motor standstill should be activated to reduce the power loss and heat
build-up. To activate current reduction, the following settings are necessary:
●
In object 3202
h
(Motor Drive Submode Select), set bit 3 (CurRed) to "1".
●
In object 2036
h
(Open Loop Current Reduction Idle Time), the time in milliseconds is specified that the
motor must be at a standstill before current reduction is activated.
●
In object 2037
h
(Open Loop Current Reduction Value/factor), the root mean square is specified to which
the rated current is to be reduced if current reduction is activated in open loop and the motor is at a
standstill.
5.1.2.3 Optimizations
Depending on the system, resonances may occur in open loop mode; susceptibility to resonances is
particularly high at low loads. Practical experience has shown that, depending on the application, various
measures are effective for largely reducing resonances:
●
Reduce or increase current, see object 2031
h
(Max Current). Excessive torque reserve promotes
resonances.
●
Reduce or increase the operating voltage, taking into account the product-specific ranges (with sufficient
torque reserve). The permissible operating voltage range can be found in the product data sheet.
●
Optimize the control parameters of the current controller via objects 3210
h
:09
h
(I_P) and 3210
h
:0A
h
(I_I).
●
Adjustments to the acceleration, deceleration and/or target speed depending on the selected control
mode:
Profile Position operating mode
Objects 6083
h
(Profile Acceleration), 6084
h
(Profile Deceleration) and 6081
h
(Profile Velocity).
Velocity operating mode
Objects 6048
h
(Velocity Acceleration), 6049
h
(Velocity Deceleration) and 6042
h
(Target Velocity).
Profile Velocity operating mode
Objects 6083
h
(Profile Acceleration), 6084
h
(Profile Deceleration) and 6081
h
(Profile Velocity).
Homing operating mode
Objects 609A
h
(Homing Acceleration), 6099
h
:01
h
(Speed During Search For Switch) and
6099
h
:02
h
(Speed During Search For Zero).
Interpolated Position Mode operating mode
The acceleration and deceleration ramps can be influenced with the higher-level controller.
Cycle Synchronous Position operating mode
The acceleration and deceleration ramps can be influenced via the external "position
specification / time unit" targets.
Cycle Synchronous Velocity operating mode
The acceleration and deceleration ramps can be influenced via the external "position
specification / time unit" targets.
Clock-direction operating mode
Change of the step resolution via objects 2057
h
(Clock Direction Multiplier) and 2058
h
(Clock
Direction Divider). Optimize acceleration / deceleration ramps by adjusting the pulse frequency to
pass through the resonance range as quickly as possible.
Version: 2.0.1 / FIR-v1650 35
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