4. Function overview
36
Festo P.BE-CMMP-AS-3A-HW-EN 0708NH
Fig. 4.1 shows the basic control structure of the CMMP-AS. The current controller, speed
controller and charge controller are arranged as cascaded controllers. Due to the rotor-
oriented control principle, the current can be separately specified as an active current por-
tion (iq) and an idle current portion (id). For this reason there are two current regulators,
each of which is configured as a PI regulator. For reasons of clarity, in Fig. 4.1 the id con-
troller is not shown.
The basic operating modes are torque control with speed limiting, speed control with
torque limiting, and positioning. Functions such as synchronisation, "Flying saw", etc, are
variants of these basic operating modes.
4.2.2
Pulse width modulation (PWM)
With the CMMP-AS servo positioning controller, the current regulator clock frequency is set
to a cycle time of 125 µs. To minimise switching losses, the pulse width modulation clock
frequency can be set to half that of the current regulator clock frequency.
The CMMP-AS servo positioning controller also has a sinewave modulation or, alterna-
tively, third harmonic sinewave modulation. This increases the effective converter output
voltage. The modulation type can be selected using the parameterising software. The de-
fault setting is third-harmonic sinewave modulation.
Converter output voltage
Output voltage at the motor terminals
V
A,(sin)
V
LL,Motor
= approx. 210 V
eff
V
A,(sin+sin3x)
V
LL,Motor
= approx. 235 V
eff
Table 4.1 Output voltage at the motor terminals with VZK
= 360 V
4.2.3
Setpoint management
In the torque and speed control operating modes, the setpoint can be specified using set-
point management.
The following values can be selected as setpoint sources:
3 analogue inputs: AIN 0, AIN 1 and AIN 2
3 fixed values:
1
st
Value: Setting dependent on the controller enable logic:
-
A fixed value of 1 or
-
RS232 interface or
-
CANopen-Bus interface or
-
PROFIBUS-DP interface or
-
DeviceNet interface or
-
SERCOS interface
2nd and 3rd values: Setting of fixed values 2 and 3
Process controller
SYNC input
Additional incremental encoder input [X10]
Содержание CMMP-AS-C2-3A
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