Function library
Speed (speed control)
Setting of motor control
332
EDBCSXS064 EN 4.0
12.27.3
Setting of motor control
12.27.3.1
Torque setpoint/additional setpoint
SPEED−MCTRL.MAdd (C7431/5) serves as a torque setpoint or additional torque setpoint,
depending on the setting of SPEED−MCTRL.NMSwt (C7411/11). The controller calculates
the maximum possible torque from the motor parameters. You can read it off C0057.
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Torque setpointorque setpoint"#
– If SPEED−MCTRL.NMSwt = TRUE, the torque control is active.
– SPEED−MCTRL.MAdd acts as torque setpoint.
– The speed controllers carry out a monitoring function.
– The torque setpoint is defined in [%] of the maximum possible torque.
– Negative values cause a torque in CCW rotation of the motor.
– Positive values cause a torque in CW rotation of the motor.
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Additional torque setpoint "additional torque setpoint"#
– If SPEED−MCTRL.NMSwt = FALSE, the speed control is active.
– SPEED−MCTRL.MAdd is added to the output of the speed controller.
– The limits determined by the torque limitation SPEED−MCTRL.NegLoMLim
(C7431/3) and SPEED−MCTRL.HiMLim (C7431/4) are not exceeded.
– The additional torque setpoint is used e. g. for friction compensation or increase in
acceleration (dv/dt).
12.27.3.2
Torque limitation
An external torque limitation can be set via SPEED−MCTRL.NegLoMLim (C7431/3) and
SPEED−MCTRL.HiMLim (C7431/4). This enables you to select different torques for the
quadrants "driving" and "braking".
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SPEED−MCTRL.HiMLim is the upper limit in [%] of the maximum possible torque.
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SPEED−MCTRL.LoMLim is the lower limit [%] of the maximum possible torque.
The maximum possible torque depends on the motor parameters (C0057).
Note!
In case of quick stop (QSP), the torque limitation is switched to an inactive
state, i. e. the operation runs with ±100 %.
