Keba ServoOne Series, Руководство пользователя

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Parameter configratton
ServoOne User Mangal SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter configratton
6.3.2 Speed control
In thts operatton mode a speed reference valge ts spectfed by the master (S-0-0036).
Figure 6.2
G(s)
-
P 0371
S-0-0100
S-0-0101
S-0-0040
S-0-0156
Torque controlled motor
P 0351
S-0-0036
S-0-0037
S-0-0081 P 0325
P 0326
P 0327
P 0329
P 0330
P 0331
P 0332
P 0460
P 0458
P 0328
P 0333
P 0334
P 0167
P 3005
P 3006
P 0320
P 0321
alternative
S-0-0322
GnFF(s)
Gru(s)
GmFF(s)
Block diagram for the speed control
Number Description Unit
S-0-0036 Speed reference value VEL
P 3005 Maximum positive acceleration ACC
P 3006 Maximum negative acceleration ACC
S-0-0037 Additive speed reference value VEL
P 0371 Filter time constant speed reference value ms
P 0458 Motor nominal speed 1/min
P 0328 Speed limit (reference variable: motor nominal speed) %
P 0333 Negative speed limit (reference variable: motor nominal speed) %
P 0334 Positive speed limit (reference variable: motor nominal speed) %
P 0167 Speed override %
P 0320 PI speed controller gain Nm min
P 0321 PI speed controller integral action time ms
Alternatively
Table 6.4 Speed control parameters
Number Description Unit
S-0-0100 PI speed controller gain Nm min
S-0-0101 PI speed controller integral action time ms
P 0322 PI speed controller gain scaling factor %
P 0325 Digital filter
P 0326 Digital filter
P 0327 Digital filter
P 0329 Absolute torque limit (reference variable: motor nominal torque) %
P 0330 Negative torque limit (reference variable: motor nominal torque) %
P 0331 Positive torque limit (reference variable: motor nominal torque) %
P 0332 Online torque limit (reference variable: motor nominal torque) %
P 0460 Motor nominal torque Nm
P 0351 Speed actual value filter time ms
S-0-0040 Speed actual value 1 VEL
S-0-0156 Speed actual value 2 VEL
Table 6.4 Speed control parameters