Lenze 9400 Manual de usuario descargar pdf (Pagina 154)

5 Motor interface

5.4 Servo control (SC)

154

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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5.4.1.5 Optimising response to setpoint changes

Setting the load moment of inertia under C00273/2 does not always provide the optimum torque

feedforward control. Depending on the application, an adjustment of the setting under C00273/2

may be necessary to optimise the response to position/speed setpoint changes by means of the

torque feedforward control.

[5-4] Typical signal characteristics for different settings of the load moment of inertia

Apart from the load moment of inertia, effects can be compensated with C00273/2, which in the

closed speed control loop are identified by the speed controller. These for example include the

friction torques.

Below you will find a description of a procedure for optimising the feedforward control behaviour

starting from the system's moment of inertia.

Without feedforward control: C00273/2 set too low:

C00273/2

set too high: Optimum feedforward control:

 Speed setpoint (Speed.dnSpeedSetpoint signal)

 Actual speed value (Speed.dnActualMotorSpeed signal)

 Speed controller output (Torque.dnOutputSpeedCtrl signal)

 Torque feedforward control (Torque.dnTotalTorqueAdd signal)

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