5-38
Motor, Mechanical Axis System, Measuring Systems
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
For asynchronous motors there usually isn’t any value indicated for the
maximum allowed peak current.
For thermal reasons we recommend limitation according to the following
relationships:
Nenn
I
2,5
0109
0
S
∗
=
−
−
S-0-0109:
rms value of maximum total motor current (in A)
I
Nenn
:
nominal current, rms value (in A)
Fig. 5-37: Recommendation for rotary motors
d
I
2,5
0109
0
S
∗
=
−
−
S-0-0109:
rms value of maximum total motor current (in A)
I
d
:
continuous current at standstill, rms value (in A)
Fig. 5-38: Recommendation for linear motors
The value of the parameter
S-0-0106, Current loop proportional gain 1
depends on the inductance of the motor (including possibly required
additional motor chokes) between the motor terminals.
)
L
2
(L
K
0106
0
S
Dr
*
+
V
-
U
∗
=
−
−
S-0-0106:
current loop proportional gain 1 (in V/A)
L
U-V
:
inductance of motor between terminals (minimum value in mH),
third terminal is not connected
L
Dr
:
phase inductance (in mH) of a possibly required choke (3x L
Dr
)
K:
factor for current loop gain, see table
Fig. 5-39: Calculating the value for S-0-0106
The factor K depends on the switching frequency that was set (P-0-0001)
and the control performance (P-0-0556, bit
2; basic/advanced
performance). The factor K can be taken from the following table:
Control performance
P-0-0556; bit 2
Switching
frequency
(in Hz)
P-0-0001
Factor K
for determining
current loop gain
x
4000
1,4
0 (basic)
8000
2,2
1 (advanced)
8000
2,8
x
12000
3,3
x
16000
4,4
P-0-0001:
switching frequency of the power output stage
P-0-0556:
control word of axis controller ("x" = 0 or 1)
Fig. 5-40:
K-factor for determining the current loop gain
Attention
: The measured value of the inductance between the motor
terminals can only be used for asynchronous motors, if the
rotor doesn’t have closed slots (observe manufacturer’s
specification!).
V
U
Dr
*
V
U
R
)
L
2
(L
0107
0
S
−
−
+
=
−
−
S-0-0107: current loop integral action time 1 (in ms)
L
U-V
:
inductance of motor between terminals (in mH), third terminal is
not connected
L
Dr
:
phase inductance (in mH) of a possibly required choke (3x L
Dr
)
R
U-V
:
resistance of the motor between the terminals (in m
Ω)
Fig. 5-41: Calculating the value for S-0-0106
S-0-0106, Current loop
proportional gain 1
S-0-0107, Current loop integral
action time 1
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
