Control Techniques M'Ax, Advanced User'S Manual

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M’Ax Advanced User Guide
24
Issue Number: 4 www.controltechniques.com
Therefore:
Refer to above text.
The drive holds three gain buffers, any buffer can be selected for use by the speed controller with parameter 3.16.
0 = Terminal input control
1 = PID buffer 1 is selected
2 = PID buffer 2 is selected
3 = PID buffer 3 is selected
Summary of effected parameters when switching P.I.D buffers
Total inertia driven by the motor is the sum of: Load I Motor Inertia.
This is required to calculate the PID gains.
The stiffness angle is the required angular displacement when the drive delivers a torque producing current equivalent to the drive rated
3.13 Speed-loop proportional gain. Kp2
ô
0.0000 ~ 0.3000
ð
SLM RW Uni
3.14 Speed-loop integral gain. Ki2
ô
0.0000 ~ 30.000
ð
SLM RW Uni
3.15 Speed-loop derivative gain. Kd2
ô
0.0000 ~ 0.1000
ð
SLM RW Uni
3.16 Speed-loop PID gain selector
ô
0 ~ 3
ð
1 RW Uni 0.12
Pr 3.16
K
P
K
I
K
D
K
C
Current demand filter cut off
1 3.10 3.11 3.12 4.07 4.12
2 3.13 3.14 3.15 4.24 4.23
3 3.60 3.61 3.62 4.28 4.27
3.18 Total inertia
ô
0.1 ~ 6000.0
0.00001 ~ 0.6
ð
Kgcm
2
Kgm
2
RO Uni 0.11
3.19 Stiffness angle
ô
0.0 ~ 30.0
ð
6.0
o
RW Uni 0.09
K
c
200
100
---------- 9.5
×
19
= =
K
b
4
π
--- const
= =
K
o
19 1.6
×
30.4 = =
J 0.00076 0.00224 + 0.003 = =
α
6 =
K
i
22.5
6
-----------
3.75 = =
K
p
2
0.003 3.75
×
4
π
---
30.4
×
--------------------------------- 0.034 = =
K
d
1
2
---
0.003
4
π
---
30.4 3.75
× ×
--------------------------------------- 0.0023 = =