Lenze 8400 - Manual (Page 228)

5 Motor control (MCTRL)
5.9 Servo control (SC)
228
Lenze · 8400 protec HighLine · Reference manual · DMS 3.0 EN · 03/2013 · TD05
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5.9.4 Optimising the control mode
The "optimisation steps" given in the table below serve to further optimise the control behaviour of
the servo control and adjust it to the concrete application.
• Detailed information on the individual steps can be found in the following subchapters.
Generally, the following optimisation steps are recommended:
Special cases may require further optimisation steps:

Tip!
In order to traverse a typical speed profile for optimisation of motor control, you can also
use the basic function " Manual jog " with appropriately adapted manual jog parameters if
this basic function is supported by the selected technology application. ( 505)

Note!
When the controller has been enabled, starting up is delayed by the magnetization
process of the motor. The speed setpoint is only enabled for motor control if 87 % of the
motor magnetising current are available. If this delay is not tolerable for certain
applications, the preset percentage threshold can be reduced in C00918 .
From version 12.00.00:
• Following successful motor parameter identification, the current controller
parameters ( C00075 , C00076 ) and field controller parameters ( C00077 , C00078 ) are
calculated automatically.
• If these parameters are not to be calculated, bit 4 of C02865/1 must be set to "1".
• Following successful motor parameter identification, the speed controller parameters
( C00070/2 , C00071/2 , C00072 ) can be calculated automatically.
• If these parameters are to be calculated, bit 6 of C02865/1 must be set to "5".
• Following successful motor parameter identification, other controller parameters
( C00011 , C00022 , C00497 ) can be calculated automatically.
• If these parameters are to be calculated, bit 6 of C02865/1 must be set to "6".
Optimisation steps
1. Optimise current controller . ( 229)
• The current controller should always be optimised if a motor of a third-party manufacturer with
unknown motor data is used!
2. Optimise speed controller . ( 230)
• The setting of the speed controller must be adapted depending on the mechanical path.
3. Optimise response to setpoint changes and determine mass inertia . ( 233)
• For an optimal reference behaviour, the total moment of inertia can be used to make a feedforward
control of the speed setpoint.
Optimisation steps
1. Setting the current setpoint filter (band-stop filter) . ( 235)
• In order to suppress or damp (mechanical) resonant frequencies, a current setpoint filter is integrated in
the speed control loop which is switched off in the default setting but can be parameterised accordingly,
if required.
Then readjust the speed controller: Optimise speed controller . ( 230)
2. Adapting the max. acceleration change (jerk limitation) . ( 236)
3. Optimising the behaviour in the field weakening range . ( 238)