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User’s manual 

3.3.2 PID CONTROLLER 

 

 

Содержание MINIOPD EXP

Страница 1: ...TDE Macno SPA Cod MAOPDEV010E0 rev 3 2 MINIOPD EXP OPD EXP USER S MANUAL ASYNCHRONOUS MINIOPD EXP OPD EXP USER S MANUAL ASYNCHRONOUS EN Tecnologie Digitali Elettroniche S p A...

Страница 2: ......

Страница 3: ...2 4 Current control 32 2 2 5 Voltage Flux control 33 2 3 Protection 35 2 3 1 Voltage limits 35 2 3 2 Thermal protection 42 2 4 V F control 44 2 4 1 Automatic Setting of working Voltage frequency 44 2...

Страница 4: ...off STOP 95 5 3 4 Safety Stop 95 6 Alarms 96 6 1 Maintenance and controls 96 6 1 1 Malfunctions without an alarm troubleshooting 96 6 1 2 Malfunctions with an alarm troubleshooting 97 7 Display 101 7...

Страница 5: ...s MAIN_SUPPLY P87 Main supply voltage Value 400 Scale 10 Int rep 4000 1 1 PARAMETERS P The parameters are drive configuration values that are displayed as a number within a set range The parameters ar...

Страница 6: ...ntation 1 4 INTERNAL VALUES D Internal values are 128 variables within the drive that can be shown on the display or via serial on the supervisor They are also available from the fieldbus The first 64...

Страница 7: ...best coupling between drive and motor It s very important to follow the correct sequence explained in the next paragraphs 2 1 1 DRIVE PLATE Name Description Min Max Default UM Scale MAIN_SUPPLY P87 Ma...

Страница 8: ...ter which the maximum current limit is reduced by 2 as shown by the following table N B the overload time illustrated is calculated with the drive running steady at the rated motor current If the aver...

Страница 9: ...ting characteristics frequency speed voltage current torque and thermal protection P62 and P63 can be read directly on the motor rating plate and P61 can be calculated with the following formula P61 I...

Страница 10: ...cosine signal amplitude compensation 0 0 200 0 100 163 8 4 OFFSET_SIN1 P165 Resolver or Incremental Sin Cos sine offset 16383 16383 0 1 OFFSET_COS1 P166 Resolver or Incremental Sin Cos cosine offset 1...

Страница 11: ...econds after stop the test is completed Automatically updates the values of P165 and P166 offset and P164 multiplication factor to adjust the amplitude 2 1 3 1 2 FINE SETUP FOR INCREMENTAL SIN COS ENC...

Страница 12: ...test 0 00 3000 0 100 revolutions 10 PRC_MOT_FRICTION P136 Friction torque 0 0 100 0 0 MOT_T_MOM 40 96 START_TIME P169 Start up time 0 19999 10 ms 1 Speed test are useful for measure total system inert...

Страница 13: ...13 User s manual Otherwise T_RIF TEST_SPD_T_MAX P130 T_RIF TEST_SPD_T_MAX P130 time T_RIF TEST_SPD_T_MAX P130 T_RIF TEST_SPD_T_MAX P130 SPD_RIF TEST_SPD_ MAX P132 time...

Страница 14: ...Post Trigger Points 90 Trigger Type standard 03 Speed Reference Trigger level 1 Trigger slope ascending Sample Time 1 Channels 2 Channel A Standard o03 Reference speed value after ramps Channel B Stan...

Страница 15: ...t Ts 0 0 50 0 8 5 ms 10 PRC_DELTA_VRS P76 Voltage drop due to stator resistor 1 0 25 0 2 0 MOT_V_NOM 327 67 PRC_DELTA_VLS P77 Voltage drop due to leakage inductance 5 0 100 0 20 0 MOT_V_NOM 327 67 MOT...

Страница 16: ...otherwise the alarm A15 code 3 is triggered In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles o P79 P69x4 the real pulses counted are less...

Страница 17: ...wise the alarm A15 code 3 is triggered In the first check if it is correct the Resolver poles number and the number of motor poles with help of P79 The test is successful if the drive switch off and d...

Страница 18: ...nt tests can now be carried out 2 1 4 6 AUTO TUNING PROCEDURES 2 1 4 6 1 SENSOR TESTS This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor ph...

Страница 19: ...nting the number of pulses in the PWM period This produces a poor resolution especially at low speed and the consequent need of signal filtering see the related core document P33 parameter of speed re...

Страница 20: ...motor and observing the behaviour of the stator voltage module If this value is correct the voltage should only vary slightly in the transient phase These other parameters are not as important and the...

Страница 21: ...ulate the proportional gain of the current loop PI During this test the motor stays practically still in its original position Flux currents in a range of values and frequencies are emitted so that by...

Страница 22: ...0 82 0 88 0 93 0 97 0 100 0 102 0 P131 P133 P135 P137 P139 P141 P143 P145 P147 P149 K The magnetizing current may also be viewed in the parameter below Name Description PRC_MOT_I_FLX_NOM P73 Nominal...

Страница 23: ...n the overall load inertia thus high frequency values can only be obtained if the motor load coupling has no elasticity or mechanical play and if the speed sensor resolution is good enough not to intr...

Страница 24: ...10 s 100 CW_DEC_TIME P22 CW deceleration time 0 01 199 99 10 s 100 CCW_ACC_TIME P23 CCW acceleration time 0 01 199 99 10 s 100 CCW_DEC_TIME P24 CCW deceleration time 0 01 199 99 10 s 100 TF_RND_RAMP...

Страница 25: ...y in ramp use in that the ramps are enabled only when required In the other application please refer to the specific documentation in order to enable the ramps The ramp may also be rounded in the star...

Страница 26: ...1 3000 0 80 ms 10 END_SPD_REG_TF P33 TfV final speed regulator filter time constant 0 0 25 0 0 8 ms 10 EN_TF2_SPD_REG C69 Enable 2nd order filter on speed regulator 0 1 0 1 START_SPD_REG_TF P34 TfV in...

Страница 27: ...changes gradually default C36 0 and I12 0 There is another chance to invert positive speed rotation setting C76 1 Enabling this function with the same speed reference and speed measured the motor rota...

Страница 28: ...ime constant and P34 is the initial filter time constant Setting P44 a percentage of the maximum speed with the end variation gain speed establishes a linear gain variation that ranges from the initia...

Страница 29: ...um torque linked to maximum motor torque according to the rated torque parameter P41 o Maximum torque set by the current limit o Maximum torque limit reference value generated by the application sysMa...

Страница 30: ...ame graph can also be referred to when an inverter is used reading it as torque delivered according to slip i e the difference between the rotation speed of the electrical values and the rotor Ns N in...

Страница 31: ...re regulation stability P41 must be set with the Maximum torque divided by Rated motor torque This limit will decrease during flux weakening with the square of the speed 2 2 3 3 MAXIMUM CURRENT LIMIT...

Страница 32: ...coefficient Kp and current loop There is dynamic decoupling between the direct axis and the orthogonal axis with a low default gain Should there be any doubts as to whether the dynamic decoupling is w...

Страница 33: ...e estimated stator voltage to be applied during flux weakening based on the required current so that there is a margin with regard to the maximum voltage available and thus to be better equipped to de...

Страница 34: ...is done so as not to lose control in a zone where the flux has been weakened widely 2 2 5 1 STARTUP WITH A MOTOR MAGNETIZED C38 provides 3 different ways for starting up the motor When the machine is...

Страница 35: ...DCBUS_MIN_MAIN_LOST P97 Minimum voltage level for forced mains off 100 0 1200 0 425 V 10 DCBUS_REF_MAIN_LOST P98 Voltage reference value in Support 1 220 0 1200 0 600 V 10 DCBUS_REG_KP P86 Kp3 Bus con...

Страница 36: ...icated value in P97 Mains break out the mains break becomes noticed either when the MAINS_OFF signal is monitored if this went to the high logic level at least one time during the soft start either mo...

Страница 37: ...e possibility to enable setting C35 1 the alarms to an automatic reset at the mains restore 2 3 1 2 2 RECOVERY OF KINETIC ENERGY C34 1 This operating procedure is adapted to those applications in whic...

Страница 38: ...ication of such a function is obtained setting C34 2 When there is a mains break or if the voltage of the Bus goes below the threshold set in P97r 425 V the drive is immediately switched off the motor...

Страница 39: ...e drive is in a position to work on four quadrants therefore is also in a position to manage the motor recovery Energy There are three different possible controls 2 3 1 3 1 RECOVERY MAINS ENERGY To be...

Страница 40: ...G WITH DC BUS CONTROL C47 1 A further possibility of recovery control of kinetic energy exists if the outer braking resistance is not present or is not working properly it is possible to enable settin...

Страница 41: ...ipated from the resistor This solution guarantees good dynamic behavior also in braking mode In the follow figure it s shown the Bus voltage and the speed during a dissipation on breaking resistance A...

Страница 42: ...Range 1 1 0 No 1 PTC 2 NTC 3 I23 4 KTY84 130 MOT_TEMP_MAX P91 Maximum motor temperature if read with PT100 0 0 150 0 130 C 10 DRV_THERM_PRB_SEL C57 Enable radiator heat probe management PTC NTC 0 1 1...

Страница 43: ...tion motors 1 Choose for self ventilated high speed motors 2 poles where ventilation is more efficient There is no current reduction for frequencies over 70 of the rated frequency 2 default Typical cu...

Страница 44: ...X 40 96 PRC_VF_CHR_V2 P177 V f characteristic point 2 voltage 0 0 100 0 0 0 PRC_MOT_V_MAX 40 96 PRC_VF_CHR_F2 P178 V f characteristic poitn 2 frequency 0 0 100 0 0 0 PRC_MOT_F_MAX 40 96 PRC_VF_V_REG_D...

Страница 45: ..._MAX P65 Max operating speed n MAX VF_EN_CHR_AUTOSET C88 Calculate V f characteristic nominal knee Automatically the drive set the voltage frequency characteristic in two possible way 1 Linear way In...

Страница 46: ...he interpolation There are some limitations on setting the characteristic Frequencies P176 and P178 must be in rising order and the distance between two adjacent points must be greater than 5 Correspo...

Страница 47: ...a value too low for P30 results in limiting the torque of the motor while a value too high results in feeding high currents at low speed whatever the load condition is In the start up under load it i...

Страница 48: ...or C84 to enable this kind of search the only difference is for manage the case in which the frequency reference was zero in this particular situation with C84 3 the system searches for positive frequ...

Страница 49: ...ference 2 AUX2 100 0 100 0 0 163 84 AI2 D43 Analog Input AI2 100 100 0 163 84 EN_AI2 P201 Enable analog reference value A I 2 0 1 0 1 REF_AI2 D65 Reference from Analog Input AI2 100 100 0 163 84 AI2_S...

Страница 50: ...input value for multiplication factor 180 00 180 00 100 0 A I 163 84 MUL_AI_MIN P244 Min analog input value for multiplication factor 180 00 180 00 0 0 A I 163 84 MUL_KCF_MAX P245 Multiplication fact...

Страница 51: ...51 User s manual...

Страница 52: ...responding connection P203 P205 o added together for the references with the same configuration For example in the case of A I 1 the result of the conditioning is given by the following equation REF1...

Страница 53: ...with time constant that can be set in milliseconds in parameter P206 In the internal quantity d10 the torque reference can be viewed as set by the application 3 1 2 DIGITAL SPEED REFERENCE C203 C205...

Страница 54: ...easing or decreasing an internal counter with the ID_UP_POTD and ID_DN_POTD functions respectively The speed of increase or decrease set by parameter P217 acceleration time of the digital potentiomete...

Страница 55: ...r time constant of frequency input decoded in time 0 0 20 0 1 6 ms 10 PRC_APP_FRQ_SPD_REF D14 Frequency speed reference value application generated 100 100 0 MOT_SPD_MAX 163 84 PRC_SPD_REF_TIME_DEC D7...

Страница 56: ...56...

Страница 57: ...it is used the time decode The number N of impulses revolution for the reference is set by connection C220 There are the parameters P221 and P222 that permit specification of the ratio between the ref...

Страница 58: ...with frequency reference it s possible to use its time decode that has a good resolution It is measured the time between various edges of frequency input with resolution of 25ns reaching a percentage...

Страница 59: ...ed but that is not rigid in the sense that there is no guarantee master slave phase maintenance 0 0 FRQ IN SEL C09 Selector Selector 2 0 Input Encod er A B B A 216 BASE FRQ_IN_PPR_SE L Multiply IN OUT...

Страница 60: ...of the speed regulator will not miss pulses ensuring maximum precision in the master slave electrical axes If the linear ramps are enabled will act only after the first starting then going to exclude...

Страница 61: ...1 L I 09 ID_UP_POTD digital potentiometer UP L I 10 ID_DN_POTD digital potentiometer DOWN L I 11 ID_LAST_V_POTD Load last digital potentiometer value L I 12 ID_INV_SPD_REF Invert speed reference valu...

Страница 62: ...t becomes as default active H so the converter is as if there were no assent from the field 3 1 4 1 INPUT LOGIC FUNCTIONS SET IN OTHER WAYS In reality the input logic functions can also be set by seri...

Страница 63: ...The following table shows the logic functions managed by standard application NAME OUTPUT LOGIC FUNCTIONS DEFAULT OUTPUT O 00 OD_DRV_READY Drive ready L O 2 O 01 OD_ALR_KT_MOT Moto thermal alarm O 02...

Страница 64: ...output voltage default values are P57 P58 200 so 10V in output correspond to 200 of variable selected The default for VOUTA is a signal proportional to the current supplied by converter C15 11 in VOU...

Страница 65: ...or voltage reference value module VNOM MOT O 19 Modulation index 0 1 O 20 Request Q axis voltage Vq_rif VNOM O 21 Delivered power PNOM O 22 Request D axis voltage Vd_rif VNOM O 23 Torque produced C NO...

Страница 66: ...Cos Encoder O 54 Incremental COS theta Sin Cos Encoder O 55 Ended initial reset O 56 PTM motor thermal probe O 57 PTR radiator thermal probe O 58 Pulses read by sensor O 59 SENS2 Rotation speed not fi...

Страница 67: ...T_DIR C50 Invert channel B simulated encoder 0 1 0 1 ENC_OUT_PPR_SEL C51 Choose pulses ev simulated encoder 0 11 5 1 ENC_OUT_SEL C52 Simulated encoder selection 0 3 0 1 OPD_ENC_OUT_SEL C54 Incremental...

Страница 68: ...GND is connected with the 0V of the drive it is not optoisolated WARNING for the encoder simulation with internal supply standard drive version you must not connect the terminal 5 Vccin because it co...

Страница 69: ...equency for channel to 437KHz 3 2 3 3 INCREMENTAL OR ABSOLUTE SIMULATED ENCODER The C54 connection allows to select two different modes of working for simulated encoder Incremental Simulated Encoder C...

Страница 70: ...grees if the resolver has two poles Connection C50 inverts the encoder B channel thus inverting its phase with respect to channel A with the same motor rotation direction By default C50 0 By P124 defa...

Страница 71: ...mmonly applied to the electric axis by taking the speed reference value from the MASTER s Simulated Encoder and taking it to the SLAVE s frequency input the motion of the two motors can be synchronise...

Страница 72: ...ision in the master slave electrical axes Since the overlapped position loop is enabled it is useless enable also the linear ramps on frequency speed reference decoded in time 0 0 FRQ_IN_SEL C09 Selec...

Страница 73: ...73 User s manual 3 3 2 PID CONTROLLER...

Страница 74: ...74...

Страница 75: ...e to have an acceleration and deceleration time with the appropriate parameters The time has to be intended from the minimum value to reach the set value and viceversa The PID regulator can work in tw...

Страница 76: ...ERS The OPEN drive products line is compatible with the protocol of the serial communication Modbus rtu At a physical level the supported standard is the RS485 see the drive installation manual for in...

Страница 77: ...d the description of the action and of the related address of each function 4 1 2 1 01 READ COIL STATUS This function allows the user to read the status of the digital inputs and outputs It is importa...

Страница 78: ...arameters table 084C 400 Representation connection table 0C00 128 Analog outputs and monitor values 0D00 500 Representation extra parameters table 09DC 64 Representation internal parameters table It i...

Страница 79: ...ired the right address that you can find in the following table and it is necessary to consider the internal data representation referring to the specific descriptions of the core The application area...

Страница 80: ...ated 100 100 0 MOT_SPD_MAX 163 84 PRC_APP_FRQ_SPD_REF D14 Frequency speed reference value application generated 100 100 0 MOT_SPD_MAX 163 84 EN_SYNC_REG C23 Enable CANOpen SYNC traking loop 0 1 0 1 SY...

Страница 81: ...server SDO parameter The transfer mode depends on the length of the data to be transferred up to 4byte data length the modality expedited is used as it is simple and immediate for bigger size objects...

Страница 82: ...parameter 1A02h 3rd Transmit PDO Mapping parameter 1A03h 4 th Transmit PDO Mapping parameter the PDO mapping must be done by following these instructions 1 the number of the mapped objects in Sub Inde...

Страница 83: ...nsmission of possible other user s data are available The management of 1003h pre defined error field object memorises the chronology of the alarm events from start up of the drive up to a maximum of...

Страница 84: ...r hardware version Vis String constant 100A VAR Manufacturer software version Vis String constant 100C VAR Guard time UNSIGNED16 Reading writing 100D VAR Life time factor UNSIGNED8 Reading writing 101...

Страница 85: ...n_formati Formats of the 100 connections Reading 2003 VAR DOMAIN Tab_exp_int Formats of the 64 internal values reading 2004 VAR DOMAIN Tab_exp_osc Formats of the 64 monitor s sizes Reading 2005 VAR DO...

Страница 86: ...ndard logical inputs Reading writing 2020 VAR UNSIGNED32 Ingressi Writing application logical inputs Reading 2021 VAR UNSIGNED32 Uscite_standard_rd Reading standard inputs Reading 2022 VAR UNSIGNED16...

Страница 87: ...omposed by 400 words 100x4 4words for each connection 1 st word it defines the type of connection its internal representation and the number of integer and decimal digits that will show up on the disp...

Страница 88: ...angeable off line key P60 4 TDE changeable off line key P99 For example 0x1231 free parameter proportional to the base the real value is internal representation base 4 th word 2 nd word it defines the...

Страница 89: ...H This table is composed by 64 words one word for each monitor value 1 st word it defines the representation of internal values 0x 0 0 0 0 hexadecimal internal representation 2 Percent with base 4095...

Страница 90: ...d 2021h in which every bit is related to the state of corresponding function Via CAN it s possible to set the status of the input logic functions writing function by function with the array Tab_inp_di...

Страница 91: ...201AH 201BH 201CH AND 201DH These objects can be used to give speed reference torque reference torque limit to the drive For doing this it is necessary to enable their management setting C52 1 f_fiel...

Страница 92: ...ecome lost due to the lack of feeding regulation The permanent work memory FLASH where the actual working parameters become stored to be used in sequence C63 1 Save Parameters on FLASH The permanent s...

Страница 93: ...it on a logic input on both banks The connection C60 indicates the actual data bank in the permanent memory C60 0 bank 0 C60 1 bank 1 The commutation of the functions logic stage I16 brings an automa...

Страница 94: ...If an enable is missing or an alarm is active the ready drive signal goes into an non active state o L 0 L and this state remains until the causes that brought about the alarm conditions are removed a...

Страница 95: ...patible with EN945 1 specification against accidental starts When this input is at low logical level the IGBT power bridge isn t supplied and the motor couldn t run more than 180 motor poles couple fo...

Страница 96: ...L21 and L3 are not wired properly or the power voltage is disabled Ensure wiring is correct and check mains and motor connection Check any contactors upstream and downstream of drive are closed Motor...

Страница 97: ...the drive Try to increase parameter P29 machine magnetizing waiting time and reduce P52 if necessary as this specifies the minimum flux alarm threshold Check d27 to ensure that the flux increases when...

Страница 98: ...or an extensive period Check the motor load Reducing it may prevent the safety switch cutting in Check the thermal current setting and correct if necessary P70 Check that the heat constant value is lo...

Страница 99: ...oftware enable A12 1 Run whitout power soft start RUN without Power Soft start Check why the Power Soft start isn t enabled A12 2 Run with T radiator too high RUN with Trad P119 Check the radiator tem...

Страница 100: ...compatibility with those who already use the OPD series MiniOPD s specific alarms are listed in Table 1 Alarm Description A 10 0 Minimum voltage of Power circuit A 10 5 Overcurrent alarm detected by P...

Страница 101: ...l then other hardware settings are not necessary if not made in factory and the setups settings and visualizations all digital they go effect through the keypad and the display or by serial line or by...

Страница 102: ...ent 100 of the drive nominal current They are distinguished in free parameters some modifiable always Online other only to converter not in run offline reserved modifiable only offline and after acces...

Страница 103: ...characteristics of each parameter are recognizable from the code of identification as under FIG 3 Application Parameters PAR For example P60 r parameter 60 reserved 1P00 t parameter 100 TDE MACNO Rese...

Страница 104: ...rm or non active alarm it may be visualized in the display The actived protection stops the converter and does flash the display excepted if it is disabled With a single visualization is possible have...

Страница 105: ...ted if it is disabled With a single visualization is possible have all the indications with the following FIG 6 Internal Values INT 7 2 6 LOGIC FUNCTIONS OF INPUT INP The visualization between I00 and...

Страница 106: ...er the lighting or when none is programming P112 seconds 10 of default after the last movement except that is not is visualizing an internal dimensions or an input or a digital output When the keypad...

Страница 107: ...o change from a list to another enough is necessary to use the or keys and the passage will happen in the order of figure Once select the list you pass on the relative undermenu pressing S the reentry...

Страница 108: ...after 10 seconds of have past inactivity To modify the value of the parameter or of connection once entered into visualization it necessary press both keys and in that moment it starts to flash the d...

Страница 109: ...109 User s manual FIG 10 Submenu management parameters PAR FIG 11 Submenu management application parameters APP FIG 12 Submenu management connections CON...

Страница 110: ...g S twice in fast succession from the menu and from the undermenu You return automatically to the status of rest after a time of 10 seconds FIG 13 Visualization of the internal dimensions INT 7 4 3 AL...

Страница 111: ...operative the select made pressing S from the menu and from the undermenu You turn automatically to the status of rest after a time closed to 10 seconds FIG 14 Alarms ALL 7 4 4 VISUALIZATION OF THE I...

Страница 112: ...note the last three digital input are about the power logical input FIG 16 Digital output OUT POWER LOGICAL INPUT STATUS H ON L OFF I 29 PTM H OK L active alarm I 30 MAXV H OK L active alarm I 31 MAIN...

Страница 113: ...s S During the data transfer the RUNN indication is displayed If the key contains invalid parameters the factory preset parameters will be used and the message Err will be dispalyed for 4 s Otherwise...

Страница 114: ...2 MOT_SPD_MAX 163 84 CW_ACC_TIME P21 CW acceleration time 0 01 199 9 9 10 s 100 CW_DEC_TIME P22 CW deceleration time 0 01 199 9 9 10 s 100 CCW_ACC_TIME P23 CCW acceleration time 0 01 199 9 9 10 s 100...

Страница 115: ...Motor thermal current 10 0 110 0 100 PRC_MOT_I_NOM 10 MOT_TF_THERM P71 Motor thermal time constant 30 2400 180 s 1 PRC_MOT_I_T_NOM P72 Nominal torque current 5 0 100 0 95 2 PRC_MOT_I_NOM 327 67 PRC_M...

Страница 116: ...150 0 80 C 10 TEST3 4_ACC_TIME P121 Test 3 and 4 acceleration time 0 01 199 9 9 6 8 s 100 MOD_INDEX_MAX P122 Max modulation index 0 500 0 995 0 98 1000 DCBUS_REF P123 Smart brake voltage cut in level...

Страница 117: ...ation voltage 200 0 780 0 400 V rms 10 SPD_REG_KD_TF2 P168 Second order feedforword filter 0 0 1000 0 0 0 ms 10 START_TIME P169 Start up time 0 19999 10 ms 1 PRC_VF_SLIP_CMP P170 Slip motor compensati...

Страница 118: ...input slip ratio 0 16383 100 1 EN_FRQ_REF P223 Enable frequency speed reference value 0 1 0 1 FRQ_REF_SEL P224 Frequency speed reference selection 0 2 0 1 TF_TIME_DEC_FRQ P225 Filter time constant of...

Страница 119: ...SP_PID P272 Digital Setpoint PID 200 0 200 0 0 0 163 84 SEL_SP_PID P273 PID Setpoint selection 0 6 0 1 SEL_PV_PID P274 PID Process value selection 0 6 1 1 KP_PID P275 KP proportional gain 200 0 200 0...

Страница 120: ...ification bridge 0 diodes 1 semicontrolled 0 1 0 1 MOT_THERM_PRB_SEL C46 Enable motor thermal probe management PT100 PTC NTC 0 4 1 1 EN_DCBUS_MAX_CTRL C47 Enable smart brake 0 1 0 1 CANOPEN_BAUD_SEL C...

Страница 121: ...D10 Torque reference value application generated 100 100 0 MOT_T_NOM 40 96 MOT_I D11 Current module 0 A rms 16 REF_FRQ_IN D12 Frequency in input 0 KHz 16 EL_FRQ D13 Rotor flux frequency 0 Hz 16 PRC_AP...

Страница 122: ...5 Reference from Analog Input AI2 100 100 0 163 84 REF_AI3 D66 Reference from Analog Input AI3 100 100 0 163 84 PRC_SPD_REF_DG_POT D67 Digital Potentiometer Speed reference 100 100 0 MOT_SPD_MAX 163 8...

Страница 123: ......

Страница 124: ...s p a tecnologie digitali elettroniche Via dell Oreficeria 41 36100 VICENZA Italy Tel 39 0444 343555 Fax 39 0444 343509 www tdemacno it...

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