Control Techniques M'Ax 403 User Manual page 66

*
Parameter
3.01 {0.04} Final speed reference
3.02 {0.05} Speed feedback
3.05 Zero-speed threshold
3.06 At-speed lower limit
3.07 At-speed upper limit
3.08 Over-speed threshold
3.09 Absolute at-speed detect mode select
3.10 {0.13} Speed-loop proportional gain Kp1
3.11 {0.14} Speed-loop integral gain Ki1
3.12 {0.15} Speed-loop derivative gain Kd1
3.13 Speed-loop proportional gain Kp2
3.14 Speed-loop integral gain Ki2
3.15 Speed-loop differential-feedback gain Kd2
3.16 {0.12} Speed-loop PID gains selector
3.18 Total inertia
3.19 {0.09} Stiffness angle
3.20 {0.10} Load inertia
3.22 Hard speed reference
3.23 Hard speed reference selector
3.25 Feedback-encoder phase offset
3.28 {0.28} Feedback-encoder revolution counter
3.29 {0.29} Feedback-encoder position
3.32 Z marker pulse received indicator
3.51 High resolution Marker select
3.52 Z marker pulse offset
3.53 Shaft-key offset
3.54 Zero offset
3.55 Number of encoder lines
3.56 F/D mode select
3.57 Speed-loop PID buffer 1 select
3.58 Speed-loop PID buffer 2 select
3.59 Speed-loop PID buffer 3 select
3.60 Speed-loop proportional gain Kp3
3.61 Speed-loop integral gain Ki3
3.62 Speed-loop derivative gain Kd3
3.63 Speed-loop PID buffer in use indicator
3.64 Speed feedback (unfiltered)
Notes
The measurement units for parameters 3.18 and 3.20 depend on the
setting of 5.34 and 5.54 . ( 5.34 = Inertia units and 5.54 = Inertia range.)
Parameter 3.64 : sample time = 250 µ s
Parameter 3.23 can be used for setting a fine analog offset or trim;
resolution = 0.1RPM
See Appendix D Optimising the Dynamic Performance on page 93.
Motor inertia
J
M
(defined by the motor via the SLM , Pr 5.33 )
J
Load inertia
L
J Total inertia = J + J
t M L
60
Range( ) Default(
ô
±[1.06] RPM
±[1.06] RPM
0 ~ 200 RPM
0 ~ [1.06] RPM
0 ~ [1.06] RPM
0 ~ n RPM
MAX
0 ~ 1
0.0000 ~ 0.3000 [SLM]
0.000 ~ 20.000 [SLM]
0.0000 ~ 0.1000 [SLM]
0.0000 ~ 0.3000 [SLM]
0.000 ~ 20.000 [SLM]
0.0000 ~ 0.1000 [SLM]
0 ~ 3
2
0.1 ~ 6000.0 kgcm or
2
0.00001 ~ 0.6 kgm
0.0 ~ 30.0 °
2
0.1 ~ 6000.0 kgcm or
2
0.00001 ~ 0.6 kgm
±500.0 RPM
0 ~ 1
0 ~ 65535 REV/65536 [SLM]
0 ~ 65535 REV
0 ~ 65535 REV/65536
0 ~ 1
0
0 ~ 65535 REV/65536
0 ~ 65535 REV/65536 [SLM]
±180 °
1024, 2048, 4096, 8192
0 ~ 1
0 ~ 1
0 ~ 1
0 ~ 1
0.0000 ~ 0.3000 [SLM]
0.000 ~ 20.000 [SLM]
0.0000 ~ 0.1000 [SLM]
0 ~ 3
±2048
) Type
ð
RO Bi P
RO Bi P
5 RW Uni
5 RW Uni
5 RW Uni
0 RW Uni
0 RW Bit
RW Uni
RW Uni
RW Uni
RW Uni
RW Uni
RW Uni
1 RW Uni
J
RO Uni
t
6.0 RW Uni
J
RW Uni
L
0.0 RW Bi
0 RW Bit
RO Uni
RO Uni
RO Uni
RO Bit
RW Bit
RO Uni
RO Uni
0 RW Uni
4096 RW Uni
0 RW Bit
0 RW Bit
0 RW Bit
0 RW Bit
RW Uni
RW Uni
RW Uni
RO Uni
RO Bi
M'Ax User Guide
Issue Number: 4