Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 81)

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Firmware 1.37 - 09/2006 81
9400 HighLine | Parameter setting & configuration
Motor interface
Initial commissioning | Optimise current controller
5.1.11 Optimise current controller
In a test mode you can select current setpoint step-changes and optimise the parameter
settings of the current controller (gain and reset time).
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How to optimise the current controller in the test mode:
1. If the controller is enabled, inhibit the controller, e.g. with the device command
"Inhibit controller" ( C00002 = "41").
2. Activate the test mode for the current controller with C00398 = "2".
3. Select the effective value of the current setpoint step change under C00022 .
• The peak value of the measurable motor current will be 1.41 times higher.
4. Enable the controller for a short time and measure the step response of the motor
current in the motor phases using the oscilloscope and clamp-on ammeters or
record the field-oriented direct-axis current using the Oscilloscope function in the
»Engineer«.
(C 416)
• Motor control variable to be recorded:
current.dnDirectCurrentAct (field-oriented direct-axis current)
5. Evaluate the step response:
6. Change the gain Vp under C00075 and the reset time Tn under C00076 .
7. Repeat steps 4 ... 6 until the optimum step response of the motor brake is reached.
• After optimisation, the current control time is typically 0.5 ... 1 ms.
• If the adjustment results are not satisfactory, the decoupling network can be
additionally activated via the setting C00074 = "1". After this, repeat the steps
2 ... 6.
• In case of MCS results may only be achieved with a current-dependent
correction of the leakage inductance. For this purpose, it is required to use a
motor with an electronic nameplate (ENP) or to set the saturation characteristic
manually (see the following section).
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t
I
t
I
t
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t
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Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
Tn
<
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Tn
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Tn
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Tn
opt.