Nord Drivesystems NORDAC FLEX SK 200E Series User Manual page 160

NORDAC FLEX (SK 200E ... SK 235E) – Users Manual for Frequency Inverters
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Rotor starting position detection
P330
(Rotor starting position detection)
(Former designation: "PMSM Regulation ")
0 ... 3 Selection of the method for determination of the starting position of the rotor (initial value of the
rotor position) of a PMSM (Permanent Magnet Synchronous Motor).
{ 0 }
The parameter is only relevant for the control method "CFC closed-loop" (P300, setting "1").
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0 = Voltage controlled: With the first start of the machine, a voltage indicator is memorised
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1 = Test signal method: The starting position of the rotor is determined with a test signal. This
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2 = reserved
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3 = Value from CANopen encoder, "Value from CANopen encoder": With this method the
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160
which ensures that the rotor of the machine is set to the rotor position "zero". This type of
starting position of the rotor can only be used if there is no counter-torque from the machine
(e.g. flywheel drive) at frequency "zero". If this condition is fulfilled, this method of
determining the position of the rotor is very precise (<1° electrical). In principle, this method
is not suitable for lifting equipment, as there is always a counter-torque.
For operation without encoders, the following applies: Up to the switch over frequency P331
the motor (with the nominal current memorised) is driven under voltage control. Once the
switch over frequency has been reached, the method of determining the rotor position is
switched over to the EMF method. If, taking hysteresis (P332) into account, the frequency
falls below the value in (P331), the frequency inverter switches back from the EMF method
to voltage controlled operation.
method also functions at a standstill with the brake applied, however it requires a PMSM
with sufficient anisotropy between the inductivity of the d and q axes. The higher this
anisotropy is, the greater the precision of the method. By means of parameter (P212) the
voltage level of the test signal can be adjusted and with parameter (P213) the position of the
motor position control can be adjusted. For motors which are suitable for use with the test
signal method, a rotor position accuracy of 5°...10° electrical can be achieved (depending
on the motor and the anisotropy).
starting position of the rotor is determined from the absolute position of a CANopen absolute
encoder. The CANopen absolute encoder type is set in parameter (P604).
For this position information to be unique it must be known (or determined) how this rotor
position relates to the absolute position of the CANopen absolute encoder. This is performed
via the offset parameter (P334). Motors should be delivered either with a starting rotor
position "zero" or the starting rotor position must be marked on the motor. If this value is not
available, the offset value can also be determined with the settings "0" and"1" of parameter
(P330). For this the drive unit is started with the setting "0" or "1". After the first start the
offset value which has been determined is saved in parameter (P334). However, this value
is volatile, i.e. it is only saved in the RAM. In order to save it in the EEPROM, it must be
briefly changed and then set back to the determined value.
After this, fine tuning can be carried out with the motor idling. For this, the drive is operated
in closed loop mode (P300=1) at as high a speed as possible below the field weakening
point. From the starting point, the offset is gradually adjusted so that the value of the voltage
component U (P723) is as close to zero as possible. For this, a balance between the
d
positive and negative direction of rotation must be sought.
Usually the value "zero" will not be completely achieved, as at higher speeds the drive is
subjected to a slight load due to the motor fan. The CANopen absolute encoder should be
located on the motor shaft.
S
BU 0200 en-3118