The Factor Ks; Block Diagram Of The Position / Speed Controller Module When In Synchronous Operation With A Real Master Shaft - Baumuller b maXX BM3000 Operating Manual

4.7
Controllers
Block diagram of the position / speed controller module when in synchronous operation
with a real master shaft:
Master speed set value additive 1
Master speed set value additive 2
Position actual value of the master axis
(106.10 and 106.11 of the master encoder)
Figure 146:

4.7.1.1 The factor Ks

The factor Ks accords to the "system gain" and is determined by the total inertia torque
of the drive J in [kg m
%. The following specifications were made:
Ks is [(degree/s
accelerating capability per ampere of the drive.
The parameter
point (magnetic flux = Flux
The Ks factor
an operation is considered that deviates from the operation.
In the controller the inverse value of the "Ks actual value"
standardization constant between the acceleration value (speed controller output) and
the torque current set value (isq). The P gain factor of the speed control loop
[1/s] and is independent of the controlled system.
An incorrect value in the standardization constant 1/Ks in the speed controller causes that
the conversion of the accelerating control in the torque current as well as the speed con-
troller parameterization are incorrect. Kp is not [1/s] nor is it comparable with the other
applications in the controller settings.
The evaluation of the Ks factor
from page 207.
The Ks adaption according to conditions deviating of the measuring point (result: Ks ac-
tual value Z155.10–) is described in the chapter
446 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
+
Master angle offset (145.18)
Block diagram of the position / speed controller module when in synchronous operation with a
real master shaft
2
], the motor torque constant Kt in [Nm/A], and the magnetic flux in
180
---------- -
Ks =

2
)/A] or acceleration/A. Therefore, the parameter Ks is a measure for the
Z18.40–
"Ks factor" is the value of the "system gain" at the measuring
= 100% and a "warm" motor).
N
Z18.40–
is the base of the parameter "Ks actual value"
Scaling
*
+
Electronic gearing
(145.3 and 145.4)
+
o
Flux Kt
 
----------- - ----- -
100 J
Z18.40–
is described in the chapter
ZKs adaption–
Position set value
Position controller
(18.58 and 18.59)
see block diagram
at position control
3300_0076_rev02_int.cdr
Z155.10–
at which
Z155.10–
(1/Ks) serves as a
Z18.24–
ZKs Determination–
from page 525.
Baumüller Nürnberg GmbH
is