Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

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Fuxx Control ARS 2320 / ARS 2340 KUHNKE Automation 5 Function overview 5.1 Motors 5.1.1 Synchronous servo motors Typically, permanently excited synchronous motors with sinusoidal EMF are used. The ARS 2300 servo positioning controller is a universal servo drive controller which can be used in conjunction with standard servo motors. An automatic motor identification system determines and parameterizes the motor data. 5.1.2 Linear motors In addition to rotary applications, ARS 2300 servo positioning controllers are also suitable for linear drives. They support permanently excited synchronous linear motors. Due to their high signal processing quality - especially concerning encoder signals - and their high clock frequency, ARS 2000 servo positioning controllers are particularly suitable for controlling air-core and iron-core synchronous motors with a low motor inductance (2…4mH). 5.2 ARS 2300 servo positioning controller functions 5.2.1 Compatibility For reasons of compatibility, the control structure of the ARS 2300 servo positioning controller has to a large extent the same characteristics, interfaces and parameters as the previous ARS product range. 44 E 732 GB 14.12.2006
KUHNKE Automation Fuxx Control ARS 2320 / ARS 2340 Positioning and interpolation Trajectory calculation: - Position setpoint - Speed feedforward - Current feedforward Setpoint management - Analog inputs - Fixed values - Synchronisation - Ramp generator X2A X2B X10 Position controller Figure 4: ARS 2300 control structure Speed controller Actual value management Current controller Output stage Motor Angle encoder 1 and 2 PWM M E1 E2 Figure 4 shows the basic control structure of the ARS 2300. The current controller, the speed controller and the position controller are arranged in the form of a cascade control system. Due to the rotor-oriented control mechanism, the current can be set separately as active current (iq) and reactive current (id). Therefore there are two current controllers, both of them PI-controllers. To provide a better overview, however, the id-controller is not shown in Figure 4. The basic operating modes are torque control with speed limitation, speed control with torque limitation, and positioning. Other functions such as synchronization, "flying saw", etc. are variants of these basic operating modes. 5.2.2 Pulse width modulation (PWM) With the ARS 2300 servo positioning controller, the clock frequency can be adjusted variably in the current controller circuit. To a large extent, this clock frequency can be adjusted with the help of the ServoCommander parameterization program. To minimize switching losses, the clock frequency of the pulse width modulation can be divided in half compared to the frequency in the current controller circuit. In addition, the ARS 2300 servo positioning controller has a sine modulation or alternatively a sine modulation with third harmonic. This increases the effective converter output voltage. The type of modulation can be selected using the ServoCommander parameterization software. The default setting is sine modulation. Table 23: Output voltage at the motor terminals in the case of UZK = 560V Converter output voltage Output voltage at the motor terminals UA,(sin) UA,(sin+sin3x) ULL,motor = approx. 320 Veff ULL,motor = approx. 360 Veff E 732 GB 45 14.12.2006
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Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

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