Download PDF - Harmonic Drive AG

Content
1. Power stage...............................................................................................................................5
1.1 Setting the power stage parameters................................................................................................................................5
2. Motor..........................................................................................................................................6
2.1 Loading motor data............................................................................................................................................................7
2.1.1 Motor selection.....................................................................................................................................................7
2.2 Data sets for third-party motors.....................................................................................................................................7
2.2.1 Determining the data set for a rotary synchronous machine.........................................................................7
2.3 Linear motor.......................................................................................................................................................................9
2.4 Asynchronous motor........................................................................................................................................................11
2.4.1 Electrical data.....................................................................................................................................................11
2.4.2 Saturation characteristic for main inductance.............................................................................................. 13
2.5 Motor protection.............................................................................................................................................................. 14
3. Encoder.................................................................................................................................... 19
3.1 SinCos X7 (channel 1)........................................................................................................................................................ 21
3.1.1 Zero pulse evaluation via encoder channel 1................................................................................................... 24
3.1.2 Overflow shift in multiturn range................................................................................................................... 24
3.1.3 Use of a multiturn encoder as a singleturn encoder......................................................................................25
3.1.4 Encoder correction (GPOC)................................................................................................................................25
3.2 Resolver X6 (channel 2)...................................................................................................................................................27
3.3 Optional encoder module X8 (channel 3)...................................................................................................................... 28
3.4 Encoder gearing.............................................................................................................................................................. 28
3.5 Increment-coded reference marks................................................................................................................................ 29
3.6 Pin assignment for X6 and X7/X8.................................................................................................................................. 31
3.7 Axis correction..................................................................................................................................................................33
4. Control..................................................................................................................................... 37
4.1 Control basic setting........................................................................................................................................................37
4.2 Current control................................................................................................................................................................ 40
4.2.1 Detent torque compensation/Anti-cogging.................................................................................................. 43
4.2.2 Advanced torque control................................................................................................................................. 44
4.2.3 Current control with defined bandwidth........................................................................................................47
4.3 Speed control.................................................................................................................................................................. 48
4.4 Position control.............................................................................................................................................................. 59
4.5 Asynchronous motor field-weakening......................................................................................................................... 68
4.6 Synchronous motor field-weakening............................................................................................................................73
4.7 Autocommutation...........................................................................................................................................................77
4.8 Commissioning................................................................................................................................................................79
4.8.1 Autotuning.........................................................................................................................................................79
4.8.2 Test signal generator (TG).............................................................................................................................. 80
4.9 Motor test via V/F characteristic.................................................................................................................................. 84
5. Motion profile......................................................................................................................... 86
5.1 Scaling...............................................................................................................................................................................87
5.1.1 Standard/DS 402 Profile...................................................................................................................................87
5.1.2 “USER” scaling without scaling wizard.......................................................................................................... 98
5.2 Basic setting...................................................................................................................................................................100
5.2.1 Control location, control source/Set control and Reference......................................................................102
5.2.2 Profiles.............................................................................................................................................................102
5.2.3 Profile Generator/Interpolated position mode............................................................................................102
5.2.4 Speed control via the Profile Generator (PG mode)....................................................................................102
5.2.5 Speed control via IP mode..............................................................................................................................103
5.2.6 Position control via the Profile Generator (PG mode).................................................................................104
5.2.7 Position control via IP mode..........................................................................................................................105
5.2.8 “Smoothing” and “Speed offset“.................................................................................................................105
2
1003374
04/2015