Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Manual de usuario Pagina 299
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SimplIQ compensates, however, for a non-sinusoidal winding shape. This assures that
a 1 Amp effective current demand always produces the same torque, regardless of the
motor angle. When winding compensation applies, the winding current waveforms
become more complex.
For Iq=1, Id=0 the phase current peak value of 1 Amp is no more guaranteed, but the
RMS value of 0.707Amp remains.
9.1.2 Output Transformation: Calculating Phase
Voltages
This block transforms the outputs of the Q and D controllers – namely Vq and Vd – to
motor phase voltages.
In the simplest sinusoidal, non saturated case, we have
cos( cos(
sin( si
)90)
)(90)n
aq d
bq d
o
o
cab
VVV
VV V
VVV
θθ
θθ
++
++
=− −
=
=
In the 3-phase case
)cos(90
)sin(90
cos( )
sin( )
aq
b
o
d
a
cdq
dc
o
V
V
VV
VV
V
V
V
V
θθ
θθ
++
=++
=
=−
=−
In the 2-phase case (stepper)
The math is significantly more complex accounting for winding corrections.
With winding corrections:
- Predicted values are added to the voltages to overcome rotating inductance
effects and BEMF.
- Voltages are converted to PWM values, using the available DC supply voltage.
- The neutral point voltage is set.
- Vector saturation is applied as needed.
- If saturation occurred, anti windup corrections are returned to the Q and D
controllers.
The final PWM values are sent to the switching transistors.
9.2. Cogging Correction
Cogging is a magnetic friction – it comes from the magnetic asymmetry of the motor.
The cogging generates torques or forces that are independent of the motor current.
SimplIQ for Steppers Application Note The Current Controller
MAN-STECR (Ver. 1.1)
100
- SimplIQ for Steppers 2
- Chapter 1: Introduction 9
- 1.1. Command Specification 10
- 1.2. Scope 10
- 1.3. Reserved Commands 11
- 2.1 Motion Commands 13
- 2.2 I/O Commands 14
- 2.3 Status Commands 14
- 2.4 Feedback Commands 14
- 2.5 Configuration Commands 15
- 2.6 Communication Commands 16
- 2.7 Control Filter Commands 16
- 2.8 Protection Commands 16
- 2.9 Data Recording Commands 17
- 2.10 User Program Commands 17
- 2.11 General Commands 18
- Limit Ranges 21
- Purpose: 22
- AC - Acceleration 23
- AG[N] - Analog Gains Array 24
- Application notes: 25
- Speed reference generation 25
- Open loop stepper control 25
- AN[N] – Analog input array 26
- AR[N] – Active Route array 27
- SimplIQ electronics 28
- BG - Begin Motion 29
- Hexadecimal 30
- BP[N] - Brake Parameter 31
- CA[N] - Commutation Array 34
- CC - Compiled Program Ready 40
- CD - CPU Dump 41
- CP - Clear Program 45
- DC - Deceleration 46
- DD - CAN Controller Status 47
- DF/DT - Download Firmware 48
- DL - Download Program 49
- EC - Error Code 52
- SimplIQ drive internal use 60
- EM[N] - ECAM Parameters 66
- EO - Echo Mode 68
- FF[N] - Feed Forward 71
- FR[N] - Follower Ratio 72
- GS[N] - Gain Scheduling 73
- SimplIQ can: 75
- HP - Halt Program Execution 78
- HT[N] – Holding torque 79
- HX - Hexadecimal Mode 80
- IB[N] - Input Bits Array 84
- Current 85
- IF[N] - Digital Input Filter 86
- IL[N] - Input Logic 87
- SimplIQ drive will retry 88
- IP - Input Port 94
- Table 3-23: IP - Input Port 95
- JV- Jogging Velocity 96
- KI[N], KP[N] - PI Parameters 98
- KL - Kill Motion and Program 99
- Parameters 100
- MAN-STECR (Ver. 1.1) 101
- LC - Current Limit Flag 102
- Application note: 104
- Storing non volatile data 104
- LL[N] - Low Feedback Limit 105
- LP[N] - List Properties 106
- LS - List User Program 107
- MF - Motor Failure 109
- 0x10,000,00 111
- MI - Mask Interrupt 113
- MO - Motor Enable/Disable 115
- MS – Motion Status 119
- OB[N] - Output Bits Array 120
- OC[N] – Output Compare 122
- OC[3]=100(RS), volatile 124
- OC[4]=200(RS), volatile 124
- OL[N] - Output Logic 125
- drive will 126
- OP - Output Port 127
- PA - Absolute Position 128
- PE - Position Error 130
- PK - Peek Memory 131
- PM - Profiler Mode 137
- PN[N] –Integer parameters 138
- PP[N] - Protocol Parameters 140
- PR - Relative Position 142
- PS - Program Status 143
- PT - Position Time Command 144
- PX - Main Position 147
- PY - Auxiliary Position 148
- Velocity 149
- RG - Recorder Gap 151
- RL - Record Length 152
- RM - Reference Mode 153
- RP[N] - Recorder Parameters 154
- Table 3-41: RR Reports 156
- RS - Soft Reset 158
- RV[N] - Recorded Variables 159
- SD - Stop Deceleration 160
- SF - Smooth Factor 162
- SN - Serial Number 163
- SP - Speed for PTP Mode 164
- SR - Status Register 165
- ST - Stop Motion 167
- TC - Torque Command 169
- TM - System Time 171
- TR - Target Radius 172
- TW[N] – Wizard Command 175
- UF[N] – User Float Array 176
- UI[N] – User Integer 177
- UM - Unit Mode 178
- VC[N]- Voltage Command 180
- VE - Velocity Error 181
- VR - Firmware Version 183
- Feedback 184
- See also: 186
- SimplIQ products 187
- XA[N] - Extra Parameters 190
- XM[N] - X Modulo 192
- YM[N] - Y Modulo 196
- Temporary Storage 198
- SimplIQ for Steppers 199
- Important Notice 200
- Contents 201
- Chapter 1:Introduction 205
- Organization 206
- Chapter 3:Unit Modes 208
- FR[2] Follower gain 210
- Control 215
- Command Generator 217
- TKI θθ=− 221
- 4.1.1 Stepper Commutation 222
- 4.1.2 Vector Commutation 222
- 4.2. Commutation Sensors 223
- Position Sensors 225
- TKI θ= (1) 227
- 4.3.1.1 Selecting Parameters 228
- 4.3.1.2 Method Limitation 229
- 4.3.1.3 Protections 229
- Faults and Diagnosis 231
- 5.1. Current Limiting 232
- [.9 ]01CL× 233
- 5.2. Sensor Faults 234
- 5.2.2 Commutation Faults 235
- Incremental Position Sensor 235
- Generator 237
- 6.1.4 Point-to-Point (PTP) 240
- 6.1.4.1 Basic PTP 240
- 6.1.5 Jog 244
- 6.1.6.1 The PVT Table 250
- 6.1.6.2 Motion Management 251
- 6.1.6.3 Mode Termination 253
- 6.1.7 Position - Time (PT) 258
- 6.1.7.2 The PT Table 260
- 6.1.7.3 Motion Management 260
- 6.2.1 Follower 267
- Moving conveyer 268
- 6.2.2 ECAM 269
- 6.2.2.1 Linear ECAM 270
- Figure 6-12: Linear ECAM 271
- 6.2.2.2 Cyclical ECAM 272
- Portions 273
- Drawing x-y manipulator 274
- Camera station 274
- 6.3. Stop Manager 277
- VL[3]= -5000 279
- SimplIQ drive 283
- 7.1.1 Link Parameterization 285
- 7.2.2 Notch Filter Element 286
- 7.2.3 Double-lead Element 287
- 7.2.4 First-order Element 287
- (2 )round x 288
- Controller 289
- 8.1. Gain Scheduling 290
- 2 speed× 291
- 8.2. Speed Control 292
- () ( ) () 293
- 8.3.1 Block Diagram 294
- −= [counts] 295
- Current cmd prefilter 298
- 298
- 9.2. Cogging Correction 299
- 9.3. Speed Corrections 300
- Implementation: 301
- 9.5. Pre-filter and Limiter 302
- Chapter 10:Development Aids 303
- Launching and Uploading Data 304
- 10.1.2 Signal Mapping 305
- 10-2. To 306
- 10-3 must be mapped to the 306
- RV[1]=5; RV[2]=1; RC=3; 307
- JV=5000;BG 308
- SimplIQ 311
- SimplIQ drive message 311
- Resulting index pulse 314
- Interpolation angle 314
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