Nord Drivesystems SK 510P, Руководство с инструкциями по установке

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NORDAC PRO (SK 500P) – Manual with installation instructions
122 BU 0600 en-3221
P330 Ident startrotor pos S
Setting range
0 … 7
{ 1 }
Factory setting { 1 }
Description "
Ident startrotor pos
". Selection of the method for determination of the starting position
of the rotor (initial value of the rotor position) of a PMSM (Permanent Magnet
Synchronous Motor). The parameter is only relevant for the control method
"CFC closed-loop" (
P300 , setting{1}).
Setting values
Value Meaning
0 Voltage controlled : With the first start of the motor, a voltage indicator is memorised to ensure that
the rotor of the motor is set to the rotor position "zero". This type of identifying starting position of the
rotor can only be used if there is no counter-torque from the motor (e.g. flywheel drive) at frequency
"zero". If this condition is fulfilled, this method of identifying the position of the rotor is very accurate
(<1° electrical). This method is unsuitable for lifting equipment applications, as there is always a
counter-torque.
For operation without encoders: Up to the switch-over frequency
P331 the motor (with the nominal
current memorised) is operated under voltage control. Once the switch-over frequency has been
reached, the method for identifying the rotor position is switched over to the EMF method. If
hysteresis (
P332 ) is taken into into account, the frequency falls below the value in P331 , the
frequency inverter switches back from the EMF method to voltage controlled operation.
1 Test signal method : The starting position of the rotor is determined with a test signal. If this method is
also to be used at a standstill with the brake applied, a PMSM with sufficient anisotropy between the
inductance of the d and q axes is required. The greater this anisotropy is, the greater the precision of the
method. With parameter
P212 the voltage level of the test signal can be changed and the rotor position
controller can be adjusted with parameter P333 . For motors which are suitable for use with the test signal
method, a rotor position accuracy of 5°…10° electrical can be achieved (depending on the motor and the
anisotropy). The conditions for activating the test signal method can be selected with
P336 .
2 Value from universal encoder. "
Value from universal encoder"
: With this method the starting
position of the rotor is determined from the absolute position of a universal encoder (Hiperface, EnDat
with Sin/Cos track, BISS with Sin/Cos track or SSI with Sin/Cos track). The universal encoder type is
set in parameter
P604 . For this position information to be unique it must be known (or determined)
how this rotor position relates to the absolute position of the universal encoder. This is performed with
the offset parameter
P334 . Motors should either be delivered with a rotor start position "zero" or the
rotor starting position must be marked on the motor. If this value is not available, the offset value can
also be determined with the settings {0} and{1} of parameter
P330 . For this the drive unit is started
with the setting {0} or {1} After the first start, the determined offset value is stated in the parameter
P334 . This value is volatile, i.e. it is only stored in the RAM. In order to save it in the EEEPROM, it
must be briefly changed and then set back to the determined value. After this, fine tuning can be
carried out with the motor running under no load. For this, the drive is operated in closed loop mode
(
P300=1 ) at as high a speed as possible below the field weakening point. From the starting point, the
offset is gradually adjusted so that the value of the voltage component U
d
(P723) is as close as
possible to zero. A balance between the positive and negative direction of rotation should be sought.
In general the value "0" cannot be achieved, as the synchronous motor has a slight load due to the
fan wheel at high speeds. The universal encoder should be located on the motor shaft.
3 Value from CANopen encoder, "
Value from CANopen encoder"
: As for {2} however a CANopen
absolute encoder is used to determine the starting position of the rotor.
4 Voltage zero track
“Voltage encoder zero track“
. As for setting {0}, however the zero track of the
encoder is taken into account. Evaluation of the zero track is activated via P420 “Digital inputs”. With
incremental encoders with a zero track, the zero track is adjusted to the magnet position “0” of the
motor during the production of NORD motors Therefore, after the first time that the zero pulse is
reached, the inverter adopts this value as a reference value and therefore achieves a high precision.
This achieves optimum use of current per torque or optimum efficiency of the motor. Whether the zero
track is only to be evaluated once or after each enable can be set via
P420 .
5 Test signal zero track : As for setting {1}, however the zero track of the encoder is taken into
account. Evaluation of the zero track is activated via P420 “Digital inputs”.
6 Voltage zero track sync. ,
“Voltage controlled with zero track sync.”:
As for setting {4}, however the
starting position of the rotor is determined on each enable.
7 Test sig. Zero track sync., “ .
“Test signal method with zero track sync.”:
As for setting {5}, however
the starting position of the rotor is determined on each enable.