Table of Contents - TG Drives

EXTENDED REGISTER GROUPS
Positive Torque or (for PM-synchronous-motors: current) limit.100%
Torque = 7800. A negative value means that the motor is forced to
generate torque even when at correct position or speed.
Positive torque limitation in the induction motor regulator, use
Motor.ATorqPLim to read the actual
positive torque limit (speed
dependend reduction).
Reg.TorqNLim 13 -8191..8191 RW
Negative Torque or (for PM-synchronous-motors: current) limit.-
100% Torque = -7800. A positive value means that the motor is
forced to generate torque even when at correct position or speed.
This is one way to generate motor-current when performing resolver
alignment.
Negative torque limitation in the induction motor regulator, use
Motor.ATorqNLim to read
the actual negative torque limit (speed
dependend reduction).
Reg.SiScale 14 0..10 RW
Speed Integrate Shift Scale factor. The integrated Speed Error is
multiplied by 2
Reg.SiScale and Reg.PErrLim, the maximum
Reg.SiScale . In applications where the regulator
sometimes has to operate with very large position errors, a common
problem is that the motor appears to be running “at uncontrollable
speed” towards the correct position, once conditions allow it. To be
able to limit the speed, with which the motor goes to the desired
position, the DMC 2 regulator has the ability to integrate both the
speed error and the limited position error. Since the position and
speed errors are of opposite signs when the motor goes towards the
correct position, we can control the maximum velocity by limiting the
position error that is allowed into the integrator and then summing
that error with the speed error (properly scaled). These values
cancel when:
Position error limit=Reg.Speed / FS * 2 Reg.SiScale .
Thus, by adjusting
velocity, which the motor goes towards the correct position, can be
set.
Since the regulator does not leave the linear mode, this also has a
stabilizing effect on conditionally stable systems.
Reg.Pole 15 0..255 RW
Reg, PID regulator
The pole of the digital filter will be placed at Reg.Pole/256. The
Re g.
Zero
z −
transfer function of the filter is: H * 256
( z)
= b0
Re g.
Pole
z −
256
b0 is a scale factor calculated by firmware to make DC gain equal to
Re g.
Pole
1−
one. b 256
( 0)
=
Re g.
Zero
1−
256
When using the filter as lead link i.e. when then Reg.Zero >
Reg.Pole,
noise and
signal clipping can occur at higher
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
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