Table of Contents - TG Drives

84
Reg, PID regulator
Reg.Zero
The zero of the digital filter will be placed at
see Reg.Pole
Reg.SetTorq 17 -8191..8191 RW
EXTENDED REGISTER GROUPS
frequencies due to then DC gain adjustment.
f ⎛ 2π
* i* ⎞
To view the transfer function: plot : 20*
log H⎜
1000 e ⎟
⎝ ⎠
16 0..255 RW
Reg.Zero/256.
Torque feed forward. The content of this variable is directly added to
the generated torque. It can be used to add a torque offset, or to be
a direct torque setpoint input, in case a torque control mode is
desired.
Note. A torque control mode is achieved by setting all gains to
zero.
Reg.InertiaP 18 0..32767 RW
Acceleration feed forward constant in positive direction.
Reg.InertiaN 19 0..32767 RW
Acceleration feed forward constant in negative direction.
Reg.InertSF 20 0..255 RW
Shiftfactor for acceleration feedforward. Where 8192 is 100% torque.
The feed forward torque is calculated as:
2
Pg. Acc
Re g.
InertiSF
* Re
65563
The Reg.InertSF must
be set so that ACC/2
Pg.Acc
Reg.InertSF is within 16
bits (32767) to avoid overflow (internally clamped to 16 bits). This
means that one must know the maximum value of the acceleration
for the particular application to properly use acceleration feed
forward. Example:
For an application with = 3678986 and a feed forward of
2293 (28% torque) in both directions.
1. Select Reg.InerSF to 7
3678986÷2 7 =28742
g.
InertiaP
2. Calculate Reg.InertiaP
{ 2293×65536 } ÷28742=5228=REG.InertiaN
Reg.StatFric 21 -8191..8191 RW
Compensate for static friction. Produces a constant feed forward
torque, with the sign of the speed reference. This has effect only
when speed is non-zero.
♦ Not to be used together with gearbox functions!
Reg.ViscFric 22 0..8191 RW
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001