Contents
Drive functions
10 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
3.6 Ramp-function generator ....................................................................................................... 76
3.6.1 Ramp-function generator tracking.......................................................................................... 79
3.6.2 Signal overview, function diagrams and important parameters ............................................. 81
4 Servo control ........................................................................................................................................ 83
4.1 Technological application ....................................................................................................... 87
4.2 Setpoint addition .................................................................................................................... 88
4.3 Speed setpoint filter ............................................................................................................... 90
4.4 Speed controller ..................................................................................................................... 92
4.4.1 Speed controller ..................................................................................................................... 92
4.4.2 Speed controller adaptation ................................................................................................... 93
4.4.3 Torque-controlled operation ................................................................................................... 95
4.5 Torque setpoint limitation ....................................................................................................... 98
4.6 Current setpoint filter ............................................................................................................ 103
4.6.1 lowpass 2nd order (PT2 filter) .............................................................................................. 106
4.6.2 Bandstop with infinite notch depth ....................................................................................... 106
4.6.3 Bandstop with defined notch depth ...................................................................................... 107
4.6.4 Bandstop with defined reduction .......................................................................................... 108
4.6.5 General low-pass with reduction .......................................................................................... 109
4.6.6 Transfer function general 2nd order filter ............................................................................. 110
4.6.7 Function diagrams and parameters ..................................................................................... 110
4.7 Current controller ................................................................................................................. 112
4.8 Autotuning ............................................................................................................................ 115
4.8.1 One button tuning ................................................................................................................ 116
4.8.2 Online tuning ........................................................................................................................ 120
4.8.2.1 "Drive-based" online tuning .................................................................................................. 120
4.8.2.2 Automatic pre-assignment and adaptation during operation ............................................... 123
4.8.2.3 Application examples ........................................................................................................... 125
4.8.2.4 Problem handling ................................................................................................................. 126
4.8.3 Current setpoint filter adaptation .......................................................................................... 127
4.8.3.1 Activating/deactivating the current setpoint filter adaptation ............................................... 127
4.8.3.2 Principle of operation of the current setpoint filter adaptation ............................................. 129
4.8.3.3 Stability of the speed control loop ........................................................................................ 131
4.8.3.4 Lower and upper limit frequencies ....................................................................................... 132
4.8.3.5 Remedy for insufficient adaptation....................................................................................... 132
4.8.4 Function diagrams and parameters ..................................................................................... 133
4.9 Note about the electronic motor model ................................................................................ 135
4.10 V/f control ............................................................................................................................. 136
4.11 Optimizing the current and speed controller ........................................................................ 141
4.12 Encoderless operation ......................................................................................................... 143
4.13 Motor data identification ....................................................................................................... 149
4.13.1 Motor data identification induction motor ............................................................................. 153
4.13.2
Motor data identification synchronous motor ....................................................................... 154
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