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Inhaltsverzeichnis
MSD 3200 Antriebe mit Anspruch .......................................................................................... 2
Überblick ............................................................................................ 11
Legende .............................................................................................. 12
1 Endstufe (Power Stage) ..................................................................... 15
2 Motor .............................................................................................. 17
2.1
PS-Synchronmotor:........................................................................................................18
2.1.1
Parameterliste für die Erstellung des PS-Motorfeldmodells: ................................18
2.2
PS-Linearmotor .............................................................................................................21
2.3
AS-Motor - Asynchronmotor .........................................................................................24
2.4
Motorschutz über Temperaturfühler - Protection ..........................................................25
3 Bewegungsprofile (Motion Profile) .................................................... 29
3.1
Normierung - Standardisation/Units ..............................................................................29
3.1.1
Beschreibung der Normierungsparameter User specific: ....................................29
3.1.2
Rotativer Motor: ................................................................................................33
3.1.3
Linearmotor: ..................................................................................................... 34
3.2
Grundeinstellungen - Basic Settings ............................................................................. 34
3.3
Stopprampen - Stop ramps ............................................................................................37
3.4
Referenzfahrttypen - Homing, ..................................................................................... 40
3.5
Handbetrieb/Tippbetrieb - Jog mode ............................................................................42
3.6
Tabellensollwerte - Setpoint table .................................................................................43
3.6.1 Fahrsätze für max. 16 Drehmomentsollwerte: ....................................................43
moog
3.6.2 Fahrsätze für max. 16 Drehzahlsollwerte........................................................... 44
3.6.3 Fahrsätze für max. 16 Positionssollwerte ............................................................. 44
3.7
Analog Kanal ANA0/1 - Analog channel ANA0/1 ......................................................... 46
3.8
Statemachine - DRIVECOM........................................................................................... 50
4 Geberschnittstellen (Encoder) ........................................................... 53
4.1
Die Geberstruktur: ........................................................................................................53
4.2
SinCos X7 - Kanal 1 .......................................................................................................55
4.2.1 Geberkorrektur (GPOC) ....................................................................................57
4.3
Resolver X6 - Kanal 2 ................................................................................................... 60
4.4
Encoder Option X8 - Kanal 3 .........................................................................................61
5 Regelung (Control) ........................................................................... 65
5.1 Blockschaltbild der Regelung ............................................................................................65
5.2
Regelungsparameter .................................................................................................... 66
5.2.1 U/f-Betrieb (open loop) ..................................................................................... 66
5.2.2 Drehmomentregelung ...................................................................................... 67
5.2.3 Rastmomentkompensation (Anti Cogging) ....................................................... 67
5.2.4 Drehzahlregelung ............................................................................................. 68
5.2.5 Digitalfilter/ Notchfilter im Vorsteuerzweig der Regelungsstruktur .....................69
5.2.6 Beobachter (Observer) .......................................................................................71
5.2.7 Feldschwächung (field weakening) .....................................................................75
5.2.8 Lageregelung (Position control) .........................................................................76
5.2.9 Kommutierungsfindung (Auto commutation) ....................................................78
5.2.10 Inbetriebnahme (Commissioning)......................................................................79
5.2.11 Autotuning ....................................................................................................... 80
5.2.13 Testsignalgenerator .......................................................................................... 82
MSD 3200 Parameterbeschreibung
7
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