62
Digitax HD M753 Control User Guide
Issue Number: 3
7.3.2
RFC-S mode (Sensorless control)
Permanent magnet motor without position feedback
Action
Detail
Before power-
up
Ensure:
•
The drive enable signal is not given (terminal 2 & 6).
•
Run signal is not given
•
Motor is connected
Power-up the
drive
Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section 5.6
Keypad changing the operating mode
on page 39, otherwise restore parameter defaults (see section 5.8
Ensure:
•
Drive displays ‘inhibit’
If the drive trips, see Chapter 13
Select RFC-S
(Sensorless
control) mode
and disable
encoder
wirebreak trip
•
Set Pr
03.024
= 1 or 3 to select RFC-S Sensorless mode.
•
Set Pr
03.040
= 0000 to disable the wire break.
Enter motor
nameplate
details
Enter:
•
Motor rated current in Pr
00.046
(A)
Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may
occur during the autotune.
•
Number of poles in Pr
00.042
•
Motor rated voltage in Pr
00.044
(V)
Set maximum
speed
Enter:
•
Maximum speed in Pr
00.002
(rpm)
Set
acceleration /
deceleration
rates
Enter:
•
Acceleration rate in Pr
00.003
(s/1000 rpm). It is recommended that the ramp rates are increased from the
default value of 0.200 s/1000 rpm.
•
Deceleration rate in Pr
00.004
(s/1000 rpm) (If braking resistor installed, set Pr
00.015
= Fast. Also ensure
Pr
10.030
, Pr
10.031
and Pr
10.061
are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).
Set stop
mode
Enter:
•
Set Stop Mode to Ramp in Pr
06.001
Set hold zero
speed
Enter:
•
Set Hold Zero Speed to Off (0) in Pr
06.008
.
Autotune
The drive is able to perform a stationary autotune. The motor must be at a standstill before an autotune is enabled. A
stationary autotune will give moderate performance.
•
A stationary autotune is performed to locate the flux axis of the motor. The stationary autotune measures the
stator resistance, inductance in flux axis, inductance in torque axis with no load on the motor and values relating
to deadtime compensation from the drive. Measured values are used to calculate the current loop gains, and at
the end of the test the values in Pr
00.038
and Pr
00.039
are updated.
To perform an autotune:
•
Set Pr
00.040
= 1 or 2 for a stationary autotune. (Both perform the same tests).
•
Close the run signal (terminal 11 or 13).
•
Close the drive enable signal (terminal 2 & 6).
The upper row of the display will flash 'Auto Tune' while the drive is performing the test.
•
Wait for the drive to display 'Ready' or 'Inhibit' and for the motor to come to a standstill.
If the drive trips it cannot be reset until the drive enable signal (terminal 2 & 6) has been removed. See Chapter 13
•
Remove the drive enabled and run signal from the drive.
Check
Saliency
In sensorless mode, when the motor speed is below Pr
00.045
/ 10, a special low speed algorithm must be used to
control the motor. There are two modes available, with the mode chosen based on the saliency of the motor.
The ratio No-load Lq (Pr
00.056
) / Ld (Pr
05.024
) provides a measure of the saliency. If this value is > 1.1, then
Injection (0) mode may be used. Current (2) mode may be used (but with limitations). If this value is < 1.1, then
Current (2) mode must be used (this is the default of Pr
05.064
).
Save
parameters
Select 'Save Parameters' in Pr
mm.000
(alternatively enter a value of 1001 in Pr
mm.000
) and press red
reset button or toggle the reset digital input.
Run
Drive is now ready to run
Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm:4.81Arms
Stall: 9.5Nm:5.91Arms
Speed: 3000rpm Poles:6
Kt: 1.6Nm/Arms
Ins Class: H
Brake: 12Nm
24V
0.67A
Serial No: XXXXXXXXXXX
Control Techniques
Dynamics Ltd
ANDOVER, HANTS.
ENGLAND. SP10 5AB
0.02
t
1000rpm
0.03
t
0.04
Ld
No-load Lq
R
S
Ef
Summary of Contents for Digitax HD M753 EtherCAT
Page 261: ......
Page 262: ...0478 0461 03...