Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Manual de usuario Pagina 301
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The back EMF, for a single motor phase, is modeled by a normalized lookup table, and
the motor torque coefficient
T
K
, given by PF[2].
Both the lookup–tables and
T
K
are measured by the setup and tuning tools.
9.3.2 Inductor Voltage Corrections
Inductance compensations are required to decouple the D and the Q controllers, i.e.
prevent Q channel control effort leaks to the D channel and vice versa.
The correction uses the inductance value in PF[1].
9.4. Current Controller PI + Filter
Implementation:
There are two identical current controllers: one for the Q channel and one for the D
channel.
Each current controller implements the following block diagram:
Σ
Current command
(torque for IQ, 0 for ID)
LPF, 1
st
order
KP[1]
[1]KI dt
∫
Σ
Anti windup correction
Output:
Vq o r Vd
PF[13]
-
IQ or ID
Figure 22: Current PI controller + filter
The filter, with its bandwidth PF[13], is for attenuating high frequency noise.
KP[1] and KI[1] are the proportional and integral gains, respectively.
The “Anti Windup correction” means that after limiting the actual controller output
(the limiting depends on the output of the other channel and also on the available DC
bus voltage), the integrator state is trimmed to avoid excessive overshoot that voltage
limits may cause.
The units of KP[1] are Volt/Amp
The units of KI[1] are Volt/(Amp Sec)
SimplIQ for Steppers Application Note The Current Controller
MAN-STECR (Ver. 1.1)
102
- 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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