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

KUHNKE Automation Fuxx Control ARS 2320 / ARS 2340
5.2.5 Speed-controlled mode
This operating mode is used when the motor speed has to be kept constant regardless of the active
load. The motor speed exactly follows the speed specified by the setpoint management system.
With the factory setting of the ARS 2300 servo positioning controller, the cycle time of the speed
control circuit is twice the PWM period, thus typically 200µs. However, it can also be set as an integer
multiple of the current controller cycle time.
The speed controller is a PI-controller and has an internal resolution of 12 bits per rpm. In order to
eliminate wind-up effects, the integrator function is stopped when underlying limits are reached.
In speed control mode, the current controllers and the speed controller are active. If the setpoint is set
via analog setpoint inputs, a "safe zero" can be defined as an option. If the analog setpoint is in this
range, the setpoint is set to zero ("dead zone"). Thus interferences or offset drifts can be suppressed.
The function of a dead zone can be activated and deactivated and its range can be adjusted.
The motor-internal encoder system, which is also used for commutation, determines the actual speed
and the actual position. For the actual value feedback to the speed control system, all encoder
interfaces can be equally selected (e.g. reference encoder or a corresponding system at the external
incremental encoder input). The actual speed value for the speed controller can be fed back via the
external incremental encoder input, for instance.
The speed setpoint can be set internally or derived from the data of an external encoder system
(speed synchronization via [X10] for the speed controller).
It is also possible to use setpoints of an MDC program (Drive Control).
5.2.6 Torque-limited speed control
ARS 2300 servo positioning controllers support torque-limited speed-controlled operation with the
following characteristic features:
� Fast updating of the limit value, e.g. in a 200 µs cycle
� Addition of two limitation sources (e.g. for feedforward values)
5.2.7 Synchronization with external clock sources
The controllers operate with sinusoidal constrained current. The cycle time is always linked with the
PWM frequency. In order to synchronize the device control system with external clock sources (e.g.
SERCOS, PROFIBUS MC), the device is equipped with a corresponding PLL. In these cases, the
cycle time is variable within certain limits in order to allow synchronization with the external clock
signal. For synchronization with external clock sources, the user has to indicate the nominal
synchronous cycle time.
E 732 GB 47
14.12.2006