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Starting up the FM 453
7.3.8
Startup of Stepper Motor Control
Overview
The motor axis driven by the FM 453 is driven by pure, direct control. It fea-
tures the following structure:
FM 453
Ref.
position
Stepper mo-
tor control
Target
speed
I
– phase current setpoints of the n stator windings
ph
Fig. 7-18 Structure of the Stepper Motor Axis
The dynamic response of the axis is determined by the design characteristics
of the machinery, such as friction, backlash, torsion, and the like. Being a
control module, the FM 453 must be subordinated to these factors as they
bear on parameterization. Following completion of basic startup as described
in Section 7.3.3, optimization of parameterization should now be carried out
geared to these factors as well as to the technology.
Different requirements are imposed on the axis dynamic response for differ-
ent technological applications. Criteria for evaluating the quality of the posi-
tioning procedure may include the following:
Criteria for evaluating the quality of the positioning procedure may include
the following:
In most applications, several of these criteria will be important, so that
most of the time parameter selection is possible only with some compro-
mise involved.
7-34
Drive
PULS
Current-
direction
sourcing pattern
counter
PWM/
BOOST
Constant acceleration curve (soft travel behavior)
Good uniformity of the traversing movement
(mechanical vibrations, stepper motor resonance!)
Short positioning time
Phase current control
I
ph
Current
regulator
FM 453 Servo Drive / Step Drive Positioning Module
C79000-G7076-C453-01
Motor and
Machine
M
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