AMD2000 Series - Servo Drive - User Manual
130
DS619-0-00-0019 - Rev 0
ANCA Motion
Warning:
Care must be exercised so that configuration changes to the type of motor under control are
made to both the Torque Controller AND the Current Controller subsystems in the Motor Control.
Failure to do this can cause unexpected behaviour.
In addition to the flexible configuration of both the Torque and Current Controllers, the following section
concerning Motor Control will describe details including the,
Current loop integral gain scheduler,
Current/Torque limits, and the
Sensor offset calibration.
A final portion will be dedicated to the configuration and diagnosis data for thermal protection of the drive and
motor, which are important aspects of implementing a successful Motor Control.
The list of relevant IDN’s discussed in this section on Motor Control is quite extensive, and is broken down by the
relevant sub-section headings as follows;
Torque Control
IDN
Label
S-0-0080 / 80
NC Torque (Force) Setpoint Command
S-0-0081 / 81
Torque Loop Additive Torque Command
P-0-0222 / 32990
Torque Setpoint Switch (Primary)
Field Weakening of PMSM
IDN
Label
P-0-0929 / 33697
Field Weakening Lookup Table
– Number of Break Points
P-0-0930 / 33698
Field Weakening Lookup Table
– Velocity Break Points
P-0-0931 / 33699
Field Weakening Lookup Table
– Field Weakening (d-axis) Current Command
Break Points
P-0-0232 / 33000
Current Limit
Induction Motor V/F Control
IDN
Label
P-0-0006 / 32774
Motor poles
P-0-0219 / 32987
VF Control - Minimum Velocity Command
P-0-0220 / 32988
VF Control - Velocity Command Scale Factor
P-0-0215 / 32983
VF Control - Max Current
P-0-0216 / 32984
VF Control - Stop Current
P-0-0217 / 32985
VF Control - Stop Voltage
P-0-0218 / 32986
VF Control - Stop Time
P-0-212 / 32980
VF Curve - Break Points PgmLen
P-0-213 / 32981
VF Curve - Velocity Break Points
P-0-214 / 32982
VF Curve - Voltage Break Points
Current Control Loop
IDN
Label
S-0-106 / 106
Current Control Q Axis Gain
S-0-107 / 107
Current Control Q Axis Integral Time
S-0-119 / 119
Current Control D Axis Gain
S-0-120 / 120
Current Control D Axis Integral Time
P-0-041 / 32809
Enable Absolute Current Feedback
P-0-222 / 32990
Torque Setpoint Switch
– Primary Mode