Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6
www.engelantriebe.de
page 15
4.2
Current control / torque control operating mode
Note
:
The setting of the parameter
Polarity
(see chapter
4.3 Positioning operating mode
also
takes effect in current control operating mode.
The current control operating mode is selected under
OPTIMISATION / OPERATING MODE.
The setpoint specified through the active setpoint source is interpreted as a current setpoint.
The scaling of the current setpoint is always based on the value adjusted in the parameter "Motor rated current"
(
OPTIMISATION / CURRENT CONTROLLER
).
Current setpoints take effect without delay, i.e. without setpoint ramp.
The control enable always takes place through digital input DI1 (+15...+30V
enable).
4.3
Positioning operating mode
The positioning operating mode enables point-to-point positioning with time-optimised (trapezoidal) or jerk free (sin²)
speed progression.
Positioning range:
2
19
=
524,288 revolutions
Position resolution:
approx. 360° / 4,096 = 0.088°
The general positioning parameters can be adjusted through both
CANopen
and the parameterisation program DSerV.
The positioning operating mode is selected in the
parameterisation program DSerV under
OPTIMISATION /
OPERATING MODE
.
The parameters of the positioning operating mode are available
under
OPTIMISATION / POSITIONING / GENERAL PARAMETERS
.
kp_x
Proportional gain of the position control loop, value range:
0.0000...0.9999
Object
:
position control parameter set
[60F9h sub1
]
Correction speed
Limitation of the adjustment range of the position control loop. This parameter
influences the dynamic behaviour on reaching the target position.
Unit: [RPM]
Typical values: approx. 100 ... 500
Object:
position control parameter set
[60F9h sub2]
