AMD2000 Series - Servo Drive - User Manual
136
DS619-0-00-0019 - Rev 0
ANCA Motion
Amplifier Temperature Current Limiting can be configured to adaptively reduce the current limit in
response to a rising drive amplifier temperature. This feature enables the drive to continue operating in
a reduced capacity as temperature increases as measured by its own internal sensors. This is achieved
using the Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit0 to enable (ie. enable
= 1) the amplifier temperature. Next, enable temperature based current limiting using the Temperature
Monitoring Control Word (P-0-1242 / 34010) by setting bit8 to enable limiting for the amplifier. Details
concerning the specification of the current limits are given below.
Motor Temperature Current Limiting can be similarly configured to adaptively reduce the current limit in
response to a rising motor temperature. This feature enables the drive to continue operating in a
reduced capacity as the motor temperature sensor measures temperature increases.
This is achieved
using the Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit1 to enable (ie. enable
= 1) the motor temperature monitoring. Next, enable temperature based current limiting using the
Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit9 to enable limiting for the motor.
Details concerning the specification of the current limits are given below.
Power Limiting enables the drive to restrict the amount of power which the motor will produce. This is
achieved by imposing a limit on the magnitude of the motor current, given the instantaneous value of the
voltage being applied to the motor. If IDN P-0-1252 / 34020 is set to a non-zero value, this value is used
to set the power, in units of [W], that the motor is restricted to operate within. If this IDN is set to zero
then Power Limiting is disabled.
The drive Amplifier Continuous Current Limit can be set to detect current overlimits in the sensed
phase
currents
(Iu, Iv, Iw) and flag an error in response.
Error Code
Label
E308
Continuous Current Limit Exceeded
Variable Torque Control
Variable Torque Control is a feature which allows the applied motor torque to be independently varied in the
“positive” and “negative” direction.
Figure 10-25
below shows how different configurations of the Variable Torque Control Word influence the actual
torque limits that are applied. For the purpose of discussion, we define a Unified Torque Limit as the smallest
current limit that is found from comparing all current limits current configured in the drive (from the above list).
This includes the special case of the Peak Torque Producing Current which is actually representing a torque (or
force).
Some examples of torque/current limit configurations are:
Case 1:
Variable Torque Limits disabled. Unified Torque Limit is applied.
Case 2:
Maximum Variable Torque Limit enabled. Unified Torque Limit used for minimum limit.
Case 3:
Minimum Variable Torque Limit enabled. Unified Torque Limit used for maximum limit.
Case 4:
Maximum and Minimum Variable Torque Limits enabled.
Case 5:
Minimum Variable Torque Limit enabled. Minimum limit set to a value larger than zero, which means the
drive will be unable to produce zero torque. This configuration is useful for axes which have a non-zero static
load applied to them, for example a vertical axis subject to gravity.
Case 6:
Maximum Variable Torque Limit enabled. Maximum limit is set to a value which is larger than the
Unified Torque Limit; hence the Unified Torque Limit is used.
Note that the minimum limit need not necessarily be negative and the maximum limit need not necessarily be
positive, as highlighted in Case 5. However the maximum limit must be larger than the minimum limit, otherwise
the drive will report a Class 1 Diagnostic (C1D) error E080.