BONFIGLIOLI Vectron Active Cube, Руководство пользователя

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Index Sub-index Meaning Data type Access Map Def.-Val
0x5F17 0 Highest sub-index supported Unsigned8 ro No 2
1 Time Constant Integer32 rw No 10,00 ms
2 Limitation Unsigned32 rw No 327680
Object works in:
•
Motion Control:
o
All modes
Object doesn’t work in:
•
Non motion Control (conf.
≠ x40)
The position controller evaluates the positioning operation (target/actual position) and
tries to control the drive such that it comes as close as possible to the specifications.
For this purpose, an additional frequency is calculated for compensation of position
deviations. By setting the corresponding parameter, this frequency can be limited. The
parameter settings of the position controller determine how quick and to what extent
position deviations are to be compensated.
Via the
Position Controller:Time Constant , you can define the maximum time in which
the position deviation is to be compensated.
Via parameter
Position Controller:Limitation, you can define to which value the speed
is limited for compensation of the position deviation.
NOTE
The Output of the Position Controller is not limited by 0x6046/2 Velocity max
amount
(or
Maximum frequency
419). The
Maximum speed*
limits the value of the
Motion Profile generation. Caused by the addition of the Profile generator reference
speed and the output of the Position Controller higher frequencies than
Maximum
speed*
can occur.
Maximum speed*
and
Limitation
1118 must be set for fitting values during the com-
missioning.
Chapter 16.6 contains conversion formulas between Hz, rpm and u/s.
Bonfiglioli Vectron recommends:
• Set
Maximum speed*
to 90 % of the mechanical rated speed and
the
Limitation
1118 of the Position Controller to the value corresponding to 10 % of
the Maximum frequency.
*)
Maximum speed
refers to either 0x6046/2
Velocity max amount
or
Maximum fre-
quency
419. It is set either via 0x6046/2
Velocity max amount
[rpm] or
Maximum
frequency
419 [Hz].
Maximum frequency
419 is usually set up during motor commis-
sioning.
The values of Objects 0x5F17/n are limited as follows:
Object Setting
Nr. Object Min. Max.
0x5F17/1 Position Controller: Time Constant 1,00 ms 300,00 ms
0x5F17/2 Position Controller: Limitation 0
2147483647
(= 0x7FFF FFFF)
Alternatively the parameters 1104 and 1118 can be used instead of the Objects.
Object Parameter
0x5F17/1 Position Controller: Time Constant
1104
Time Constant
0x5F17/2 Position Controller: Limitation
1118
Limitation
Example:
Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The posi-
tion controller will increase the motor frequency by 1000 Hz in order to compensate
the position deviation. Parameter
Limitation
1118 must be set accordingly.
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CM-CAN ACU
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