Santerno Sinus Penta - “FOC” Control Algorithm

SINUS PENTA
PROGRAMMING GUIDE
46/486
7.3. “FOC” Control Algorithm
1) Wiring:
Follow the instructions stated in the “Cau
tion Statements” and “Installation” sections in the
Installation Guide.
2) Power on:
Power on the drive and do not close the link to the ENABLE-A and ENABLE-B
inputs to
prevent the motor from running. Check to see if the display/keypad turns on.
3) Parameter setting:
The equipment startup is made easier by the START-UP MENU, which is a wizard for the set-
up of the main motor control parameters.
From the START-UP MENU, set the following:
1. The real power supply voltage in C008
. It is possible to select the rated mains voltage
range or the power supply from a DC-bus stabilized by a Regenerative Penta;
2. Control algorithm as FOC (Field Oriented Control) in C010;
3. The motor ratings by way of:
• C015 (fmot1) rated frequency
• C016 (rpmnom1) rated rpm
• C017 (Pmot1) rated power
• C018 (Imot1) rated current
• C019 (Vmot1) rated voltage
• C029 (Speedmax1) max. allowable speed.
CAUTION: It is not advis
able to set rated motor power and current lower than 50%
of the drive size. This would adversely affect the motor control performance.
4) Setting no-load
current C021
If the no-load current of the motor is known, set C021 (I
0
) with the I
0
value expressed as a
percentage of the rated motor current.
If the no-
load current of the motor is not known but the motor can rotate freely without any
connected load, start the motor in IFD mode at nominal rpm, read out the current value from
the Motor Measures Menu (M026) and use it as a first trial value for I
0
. For example, if the rated
current is C018 = 133A and M026 = 36A, set C021= 36/133=27%.
NOTE: If the motor must run at a higher speed than the rated speed (field weakening
mode) read out the no-load current value at rated speed in any case.
Lastly, if the no-load current of the motor is not known and the motor cannot rotate under no-
load condition, you can use the first I
0
trial value automatically computed by the Pent
a drive
during the tuning procedure described in step 6).
NOTE: Each time the tuning procedure in step 5) is carried out with no-
load current
parameter C021 (I
0
) = 0, the Penta drive will automatically enter a value based on the motor
current ratings.
5) Encoder test:
The motor must run when testing the encoder.
Set the source of the encoder signal used as a speed feedback
(Encoder A in terminal board,
Encoder B from ES836 or ES913 optional board) in parameter C189
; enter the number of
pulse/rev (C190 or C191).
Set the parameter relating to speed feedback from encoder: C012 = Yes.
With the ENABLE-A and ENABLE-B commands open, access the AUTOTUNE MENU
and set
parameter I073=[2: Encoder Tune]. Use the ESC key to confirm changes. Close the ENABLE-
A and ENABLE-B commands and wait until encoder tune is complete (“W32
Open Enable” is
displayed).
Once encoder tune is complete, the display will show one of the following messages:
“W31
Encoder Ok”; the speed feedback is correct. If the speed detected by the encoder is
opposite to the desired speed, the drive will automatically reverse the feedback sign (parameter
C199).
“A059 Encoder Fault”; the speed detected from the encoder is not consistent with the control