nord NORDAC FLEX SK 200E Series User Manual page 162

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: "Regulation PMSM ")
0 ... 3 Selection of the method for determining the starting position of the rotor (initial value of rotor
position) of a
{ 0 }
The parameter is only relevant for the control method "CFC closed-loop" (P300, setting "1").
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0 = Voltage-control: With the first start of the machine, a voltage indicator is imprinted and
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1 = Test signal principle: 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 CANopen encoder, "value of the CANopen encoder": In this method the rotor starting
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162
PMSM (permanent-magnet synchronous motor)
ensures that the machine rotor is set to rotor position "zero". This type of rotor starting
position 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 rotor position
is very precise (<1° electrical). In principle, this method is not suitable for lifting gears since
there is always a counter-torque.
The following applies to encoder-less operation: Up to the changeover frequency P331 the
motor (with the rated current imprinted) is driven under voltage control. Once the
changeover frequency is reached, the method for determining the rotor position is switched
over to the EMF method. If the frequency falls below the value in (P331) taking hysteresis
(P332) into account, the variable frequency drive switches from the EMF method back to
voltage-controlled operation.
method also functions at a standstill with the brake applied but it requires a PMSM with
sufficient anisotropy between the inductance of the d and q axes. The higher this anisotropy,
the greater the precision of the method. The voltage level of the test signal can be adjusted
by means of parameter (P212) and the position of the rotor position controller can be
adjusted with parameter (P213). In principle, a rotor position accuracy of 5°...10° can be
achieved electrically in motors suitable for the test signal method (depending on the motor
and the anisotropy).
position is determined from the absolute position of a CANopen absolute encoder. The type
of CANopen absolute encoder 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 rotor starting position of "zero" or the rotor
starting position must be noted on the motor. If this value is not available, the offset value
can also be determined with settings "0" and "1" of the parameter (P330). For this purpose,
the drive unit is started with the setting "0" or "1". After the first start, the calculated offset
value is in parameter (P334). However, this value is volatile, that is, saved only in the
random access memory. To copy it to the EEPROM, it must be briefly adjusted and then
reset to the calculated value. Fine adjustment can also be carried out with the motor running
under no load. 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
possible. A balance between the positive and negative direction of rotation should be
sought. In general, the "zero" value is not reached completely since the drive is under very
light load at higher speeds from the motor's fan propeller. The CANopen absolute encoder
should be located on the motor axis.
S
.
(P723) is as close to zero as
d
BU 0200 en-US-4920