Siemens SIMATIC FM 353, Manual

Page: 164 / 361

Starting up
7-16
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
END
Enter
MD44 = 0
MD42: Acceleration 1 a
b1
1. Calculate delay:
Acceleration element M
b1
determined (e.g. 2.4 Nm)
No Yes
a [Hz/s] =
10,000 M
b1
[Nm] MD13
J
total
[kg cm
2
] 2
π
(e.g. 272 837 Hz/s)
2. 20% certainty: a
b1
= 0.8 a (e.g. 218,269 Hz/s)
3. Enter rounded off value per MD 42 (e.g. 218,000 Hz/s)
MD44: Delay 1 a
v1
E.g. technological concerns may make a certain delay desirable, or friction torque
factors may provide a moment which deviates from the acceleration case. MD44 must
be either be calculated along the lines of the formula used to calculate MD42, or some
technologically desirable value must to be verified.
Should values for acceleration and delay be
identical within the range f < f
eg
?
MD43: Acceleration 2 a
b2
1. Determine acceleration moment M
b2
(e.g. 1.2 Nm)
2. Calculate delay:
a [Hz/s] =
10,000 M
b2
[Nm] MD13
J
total
[kg cm
2
] 2
π
(e.g. 136 418 Hz/s)
3. 20% certainty: a
b2
= 0.8 a (e.g. 109,134 Hz/s)
4. Enter rounded off value per MD 43 (e.g. 109,000 Hz/s)
J
total
= J
Motor
+ J
Load
J
total
= 7 kg cm
2
MD45: Delay 2 a
v2
E.g. technological concerns may make a certain delay desirable, or friction torque
factors may provide a moment which deviates from the acceleration case. MD45 must
be either be calculated along the lines of the formula used to calculate MD43, or some
technologically desirable value must to be verified.
Enter
MD45 = 0
Should values for acceleration and delay be
identical within the range f > f
eg
?
Yes No
Equate acceleration element for all
f − f
max
: M
b1
= M
b2
Enter
MD40 = MD41
MD43 = 0
MD45 = 0
MD40: Frequency value for acceleration switchover f
eg
1. Enter M1 = 2 M2 - M
Load
into M diagram (e.g. 3 Nm)
2. Read f
eg
(e.g. 3,000 Hz) from frequency scale
3. Enter MD40 = f
eg
yes (e.g. 1.8 << 5)
No
Compare torque M2 with the idle time torque M0 of
the stepper motor: M2<< M0?
Parameterize the speed
profile by way of simple
ramp
Parameterize the speed
profile by way of bent
ramp
Read available motor torque M2 at f
max
(e.g. 1.8 Nm)
MD41: Maximum frequency f
max
1. Enter maximum frequency f
max
(e.g. 10,000 Hz) into the M diagram at maximum axis speed
2. Enter MD41 = f
max
MD39: Start/stop frequency f
ss
1. Enter J
Load
into J diagram (e.g. 3 kg cm
2
)
2. Determine f0 (e.g. 150 Hz) from intersection
with J curve
3. Shift base point of SS curve to f0
4. Enter M
Load
in M diagram (e.g. 0.6 Nm)
5. Determine f1 (e.g. 130 Hz) from intersection
with SS curve
6. Enter MD39 = f
ss
= 0.8 f1 (e.g. 104 Hz)
Fig. 7-7 Evaluation of operating characteristic curves