Lenze L-force HighLine C 8400 Series Reference Manual page 234

8400 HighLine C | Reference manual
Motor control (MCTRL)
Servo control (SC)

How to optimise the torque feedforward control:
1. Run a typical speed profile and record the inputs and outputs of the speed
controller with the data logger.
• Motor control variables to be recorded:
nSpeedSetValue_a (speed setpoint)
nMotorSpeedAct_a (actual speed value)
nOutputSpeedCtrl_a (speed controller output)
2. Estimate the moment of inertia and set it in
(i.e. with account being taken of the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by
the feedforward control and the speed controller output signal
(nOutputSpeedCtrl_a) is correspondingly smaller. The resulting following error
decreases.
4. Change the setting in
intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved
(see signal characteristics in Fig. [5-17]).
5. Save the parameter set (device command: C00002/11).
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C00273
C00273 and repeat the data logger recording until the
L
in relation to the motor end
Firmware ≤ 11.00 - DMS 6.0 EN - 10/2011