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The controller may refuse to enter pre-operational if part of the system is active: for example, if
the vehicle is being driven. The request is logged in the EEPROM however, so if power is
recycled the system won't enter operational and remains in pre-operational after powering up.
The NMT state can be read at 5110
Motor characterization
Ensure you have completed the CANopen network setup process.
Determining motor parameters
To provide optimum motor performance Gen4 needs the basic motor information normally found
on the name plate as well as the following information:
A value for each of the electrical parameters of the induction motor as shown in Figure 21.
The magnetic saturation characteristics of the motor in the constant power and high speed
regions.
Current and speed control gains.
Figure 21 AC motor single-phase equivalent circuit
To determine these parameters use one of the following methods:
1. Ask the motor manufacturer to provide the data and enter it in the Object Dictionary at 4640
and 4641
. Also enter encoder data at 4630
h
The motor maps are dependant on the motor type:
Motor Type
Map Object
PMAC
Flux Vector
6-8
where 05 = operational and 7F = pre-operational.
h
4610
Motor flux map showing torque versus magnetising current.
h
Motor power limit map showing maximum torque versus
4611
h
speed.
Voltage cutback map showing voltage versus torque reduction
4612
h
factor.
Second motor power limit map. Overrides map in 4611
4615
h
on trigger defined in 4652
4610
Motor flux map showing torque versus magnetising current.
h
Motor power limit map showing maximum torque versus
4611
h
speed.
Voltage cutback map showing voltage versus torque reduction
4612
h
factor.
and 6090
and motor maps at 4610
h
h
Usage
.
h
h
to 4615
.
h
h
based
h
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