<1> For p1472 = 0 the I component is disabled (Integral time =
<2> Setting rule: p0341, p0342 and p1498 are correctly set if the r1480 speed output displays values around 0 when accelerating in sensorless operation.
<3> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
1
2
DO: SERVO
Servo control - Speed controller without encoder
n_prectrSym t_dead
p1428[D]
Kp_n adaptation factor [5050.6]
Pre-control
(= 1.00 for the factory setting)
balancing
1 = Kp-/Tn adaptation active
From speed control configuration
p1429[D]
p1400.5
[5490.4]
n_ctrl n_set
r1438
[8010.5]
Balanced speed setpoint
r0108.7 =1
p3700.8 =1
APC n_load smth
r3771
x
[4711.7]
n_act smooth
Acceleration
r0063
model
[4710.6]
M_accel T_smooth
0.00...100.00 [ms]
p1517[D] (4.00)
Total moment
of inertia
<2>
Smoothing
M_accel unsmoothed
(1)
r1518[0]
).
3
4
n_ctrl SLVC Kp
0.000...999 999.000 [Nms/rad]
0.0...100 000.0 [ms]
<1>
p1470[D] (0.300)
p1472[D] (20.0)
0
1
n_ctr integ_fdbk T
p1494
<3>
Kp
T
F
&
+
–
1
0
n_ctrl integ stop
p1476[C]
(0)
n_ctrl integ set
p1477[C]
Integrator control
(0)
n_ctr integ_setVal
p1478[C]
(0)
Speed controller
M_accel smoothed
r1518[1]
5
fp_5210_01_eng.vsd
26.07.07 V02.05.01
n_ctrl SLVC Tn
p0115[1] (125.00 µs)
n_ctrl Kp eff
r1468
n_ctrl P-M_output
Tn
r1481
n_ctrl PI-M_output (M_set_4)
r1480
n_ctrl I-M_output
r1482
Servo control enable from sequence control S4: Operation