Keba ServoOne Device Help page 5

6.4.1 Connector for resolver (X6)
6.4.2 Connector for high-resolution encoders (X7)
6.5 Channel 1: Interface X7
6.5.1 Main parameters for encoder channel Ch1
6.5.2 BiSS (cyclical) X7
6.5.3 EnDat (cyclical) X7
6.5.4 Hall sensor X7
6.5.5 SinCos / TTL X7
6.5.6 SSI (cyclical) X7
6.5.7 Encoder gearing
6.6 Channel 2: Interface X6
6.6.1 Compensation for long resolver cables
6.6.2 Signal correction GPOC (Gain Phase Offset Correction)
6.6.3 Encoder gearing X6
6.7 Channel 3: Interface X8 (optional)
6.7.1 Main parameters for encoder channel Ch3
6.7.2 Absolute value interfaces X8
6.7.3 BiSS X8
6.7.4 EnDat (cyclical) X8
6.7.5 Hall sensor X8
6.7.6 SinCos / TTL X8
6.7.7 SSI (cyclical) X8
6.7.8 HIPERFACE DSL® (ServoOne junior)
6.7.9 Encoder gearing
6.8 Channel 4: Virtual encoder
6.8.1 Sensorless control synchronous motor
6.8.2 Sensorless asynchronous motor control
6.9 Redundant encoder
6.10 Axis correction
6.11 Oversampling
6.12 Multi-turn encoder as a single-turn encoder
6.13 Increment-coded reference marks
6.14 Overflow in multi-turn range
6.15 Zero pulse test
ID No.: 0842.26B.5-01 Date: 09.2020
Table of contents
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7 Control
56
7.1 Overview of control structure
59
7.1.1 Setting
60
7.2 Basic settings
61
7.2.1 Motor control basic settings
62
7.2.2 Automatic inertia detection
64
7.3 Torque controller
64
7.3.1 Current controller optimization
70
7.3.2 Creating the transfer function
72
7.3.3 Decoupling
74
7.3.4 Current actual value filter
75
7.3.5 Detent torque compensation
75
7.3.6 Advanced torque control
77
7.3.7 Torque control with defined bandwidth
78
7.3.8 Enhanced feed forward control of voltage
82
7.4 Speed controller
84
7.4.1 Advanced speed control
84
7.4.2 Digital filter
84
7.4.3 Analysis of Speed control
84
7.5 Position controller settings
85
7.5.1 Pre-control
89
7.5.2 Friction torque compensation (friction)
91
7.6 Asynchronous motor field weakening
91
7.6.1 Variant 1: Default
92
7.6.2 Variant 2: Modified characteristic
93
7.6.3 Voltage controller
99
7.6.4 Field-weakening of asynchronous motor voltage controller
102
7.7 Field weakening and LookUpTable (LUT), synchronous motor
102
7.7.1 Variant 1 (Table)
106
7.7.2 Variant 2 (Calc)
106
7.7.3 Variant 4 (TableMotGen)
107
7.7.4 Variant 5 (TABLE2)
108
7.7.5 Variants 3 and 6 (LUT)
109
7.7.6 Field-weakening of synchronous motor voltage controller
7.8 Synchronous motor auto commutation
7.8.1 IENCC(1) method
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ServoOne - Device Help 5