Moog DS2100 Manuel d'utilisateur Page 161
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual
C27750-001 PAGE 5-13
5.4 Motor Configuration
There are a number of parameters that are required when configuring a specific motor for a drive. These parameters
are held in the GUI, and downloaded by selecting the appropriate motor from the motor set-up folder, in the T361
navigator panel. For standard motors, these parameters will be held in a database on the PC, and downloaded by
the GUI. For non-standard motors, the user must enter these parameters.
In addition to the typical electrical motor parameters which are downloaded (e.g. Number of Motor Poles,
Resistance, Inductance, etc...), tuning parameters for the current loop, position feedback, commutation, motor
thermal characteristics etc, need to be set for the drive, as these parameters will differ for each motor. The following
section lists and explains the meaning of each parameter. More detailed descriptions of these parameters are given in
the appropriate parts of this section of the manual.
The parameters are grouped as shown below.
5.4.1 Motor Name
Index Type Units Motor Database
Name
Name
0x6410/1 str None Name motor_name
5.4.2 Electrical Parameters
Index Type Units Motor Database
Name
Name
0x6410/2 u16 None Pm motor_poles
0x6410/3 f32 Ohms Rtt motor_Rtt
0x6410/4 f32 H Lq motor_Lq
0x6410/5 f32 H Ld motor_Ld
0x6410/6 f32 V/rad/s Ke motor_ke
Table 5.6 List of motor (Electrical) parameters
5.4.3 Current Loop Parameters
Because of the different electrical characteristics of each motor, the current loop must be optimised for the motor to
be used with the controller. The control loop structure is described elsewhere, the parameters that must be set are
summarised below: -
Index Type Units Motor Database
Name
Name
0x60F6/1 F32 V/A/Tsamp DS2100_di current_loop_d-axis_i-gain
0x60F6/2 F32 V/A DS2100_dp current_loop_d-axis_p-gain
0x60F6/3 F32 V/A/Tsamp DS2100_qi current_loop_q-axis_i-gain
0x60F6/4 F32 V/A DS2100_qp current_loop_q-axis_p-gain
0x60F6/5 F32 None DS2100_calk current_loop_foldback_minimum
0x60F6/6 F32 A DS2100_cali current_loop_foldback_breakpoint
0x60F6/9 F32 V/A/Tsamp DS2100_oap current_loop_alpha_observer_i_gain
- Digital Controller 1
- Installation & 1
- User’s Manual 1
- SECTION 1: DS2100 OVERVIEW 3
- 1.1 Introduction 5
- 1.2 DS2100 Models 6
- DS2100 User's Manual 10
- 1.4 Design Standards 10
- DS2100 User's Manual 11
- Page Intentionally Blank 16
- Required for 19
- CE-Compliance 19
- 2.2 Safety Regulations 20
- 2.4 UL Requirements 42
- 3.1 System Components 48
- 3.2 Equipment Mounting 53
- 3.3 Power Dissipation 62
- 3.8 24V Backup Connection 78
- 3.11 Motors - Installation 91
- Serial Communications 113
- Connector (RS232) 113
- 3.14 Wiring Summary 117
- DS2100 Cable End 125
- 15-Pin Sub-D Connector 125
- Plug (male) on cable 125
- SECTION 4: GETTING STARTED 127
- 4.1 Introduction 129
- 4.2 Initial Preparation 129
- 4.3 Power Supply 129
- 4.4 Installing Windrive 130
- 4.5 Controller Access 131
- 4.6 Motor Selection 132
- 4.8 Acceleration Limits 136
- 4.9 Parameter Utilities 137
- 4.10 Status & Faults 138
- 4.11 High Power Application 139
- 4.12 Autophasing 140
- 4.13 Torque Mode Enable 141
- 4.14 Velocity Mode Enable 142
- 4.15 Oscilloscope 143
- Click enable button ( ) 145
- 4.16 Power-Down Sequence 148
- ...... 5-29 150
- 5.1 Introduction 152
- 5.2 DS2100 Conventions 153
- 5.3 Power Interface Section 154
- 5.4 Motor Configuration 161
- 5.4.5 Bus Parameters 162
- 5.5 Resolver Input 166
- 5.5.2 Resolver Parameters 168
- 5.6 Encoder Input 170
- 5.6.2 Encoder Parameters 174
- 5.7 Commutation Module 176
- _adjustment 177
- 5.7.3 Commutation Parameters 178
- 5.8 Position Feedback 179
- 5.9 Velocity Feedback 180
- 5.10.1.1.4 Homing Switch 184
- 5.10.1.1.5 Quickstop 184
- 5.10.1.1.9 CAN Re-Enable 185
- 5.10.1.1.10 Re-Boot 185
- 5.11 Control Loops 190
- DS2100 User's Manual 191
- 5.12.1 Drive Monitoring 210
- 5.12.3 Drive Fault Reaction 214
- NON-FATAL 216
- 5.12.5 Fault Clearing 218
- 5.12.6 Event Log 218
- 5.13 Self Protection 222
- 5.14 Parameter Storage 223
- C27750-001 PAGE 6-1 227
- 6.1 Introduction 229
- 6.2 Reference Documentation 229
- CAN Cable Wiring 230
- 6.3 CAN node identifier 232
- 6.5 Data Types 234
- 6.6.1 CAN state 235
- 6.7.2 SDO timeout 237
- 6.7.3 SDO abort codes 237
- 6.7.4 SDO Parameters 238
- 6.8.2 Transmission Type 239
- 6.8.3 PDO Inhibit Time 239
- 6.8.4 PDO Event Time 239
- 6.8.5 PDO mapping 240
- 6.8.6 PDO Parameters 241
- DS2100 User's Manual 243
- 6.9 Synchronisation 243
- 6.10.1 Error reporting 245
- 6.10.2 Heartbeat Protocol 245
- 6.10.4 Drive Identification 245
- 6.10.5 Identity Object 246
- G361_CAN_Vx.x dd.mmm.yyyy 247
- 6.11 CAN Indicators 248
- 6.11.2 Error Indicator 249
- 6.12 Data Type Parameters 250
- 6.13.3 SYNC Transmit 252
- 6.13.4 Auto-Start 252
- 6.13.5 Calculate SYNC Period 252
- 6.13.7 Recovery From Bus-Off 252
- PAGE INTENTIONALLY BLANK 254
- DS2100 User’s Manual 255
- TABLE OF CONTENTS 256
- 7.1 Introduction 257
- 7.2 References 257
- 7.5 Revision History 258
- 7.6 Overview 259
- 7.7 Emergency Messages 260
- 7.8 Predefined Objects 260
- 7.9 Motor/Drive Parameters 263
- 7.10 Device Control 266
- 7.11 Factors Group 271
- Motor Revolution 276
- 7.14 Profile Velocity Mode 289
- 7.16 Profile Position Mode 297
- 7.18 Homing Mode 311
- DS2100 User’s Manual 323
- DS2100 User’s Manual 324
- PAGE INTENTIONALLY BLANK 324
- APPENDIX A DATA LOGGER 325
- A.1 Data Logger 327
- A.1.4 Data Access 329
- A.1.7 Trigger parameters 332
- APPENDIX B GUI 335
- B.1 Contents 336
- B.2 Introduction 338
- B.3.4 Main Window 340
- B.3.5 Main Menu 340
- B.3.6 Toolbar 340
- B.3.7 Status Bar 340
- B.3.9 Panel View 342
- B.3.10 Panel View Toolbar 342
- B.3.13 Macro Player 344
- B.3.14 Macro Player Toolbar 344
- B.3.15 Driver 346
- B.3.16.89.1 Display Area 440
- B.3.16.89.2 Timebase Panel 440
- B.3.16.89.3 Channel Panels 441
- B.3.16.89.4 Cursor Panel 441
- B.3.16.89.5 Trigger Panel 441
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