Moog MSD Servo Drive, Device Help

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6.8.2.1 Activation of sensorless control for asynchronous motors
Proceed as follows:
No. Activity
1
Set motor type (P 450[0] - MOT_Type ) to “2 (ASM) = asynchronous
motor”.
2 Enter the motor name (P 451[0] - MOT_Name) .
3
Copy the motor variables from the rating plate into the appropriate input
box.
4 Start motor identification to identify other motor parameters.
5
In the “Encoder selection” screen ( see also section "Encoder selection"
on page 53 ) under “Encoder for commutation and torque control,” set
P 520[0] - ENC_MCon to “CH4(4) = virtual encoder (Channel 4)”.
6
Under “virtual encoder (Channel 4)” "Encoder selection" set (P 508[0] -
ENC_CH4_Sel) to "SFC(8) = take values of SFC model".
7
In the “Basic Control Settings” screen (see section “Basic settings” on
page 101) set “Speed filter TF” (
P 351[0] - CON_SCALC_Tf ) to 10 ms.
8
In the “Asynchronous motor control settings identification” screen ( see
also section "Asynchronous motor" on page 38 ) enter the “Total moment
of inertia” of the system (P 1516[0] - SCD_JSum ). Enter a value that is
too small rather than too big to avoid a tendency to oscillate. Automatic
detection is not advisable due to the control dynamics and accuracy
required.
9
In the same screen under “Control design by stiffness” set P 1515[0] -
SCD_ConDesign (Stiffness) to 10%.
Table 6.31: Commissioning a sensorless-controlled asynchronous motor
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
98
6 Encoder
Additional setting parameters
P No. Index Name Unit Description
351 CON_SCALC_Tf Speed filter
0 CON_SCALC_Tf ms Filter time const. speed control (motor)
1 CON_SCALC_Tf ms Filter time const. velocity (hydraulic cyl.)
2 CON_SCALC_Tf ms Filter time const. speed from position control.
792 EN_CH4_Kalman_SigInj Sensorless control: Test signal generator.
0 Signal
7 FullSignalRange rpm SC test signal: Linear transition range up until
which the test signal is reduced to 0.
8 IncreasingSignalRange rpm SC test signal: Linear transition range up until
which the test signal is reduced to 0.
9 d current offset A SC test signal: d current offset of sinusoidal
signal.
1959 CON_SFC_Para SFC Parameter
0 TF_is ms filter time constant of isd/isq.
1 K_ov % Anti-overturning limitation factor.
2 K_isd % d-axis current control scaling.
3 Tstart ms start-up time (flux settling).
1973 CON_SFC_VoltageError Settings for SFC voltage errors model. Low
voltage characteristic: must be set during the
motor identification; may require some
coordination effort.
0 I_err A low-voltage characteristic: corner current
1 V_err V low-voltage characteristic: corner voltage.
Table 6.32: "Sensorless control of asynchronous motor” parameter