User Manual

Advanced Digital Motor Controllers User Manual 7
Theory of Operation ............................................................................... 121
Sensorless Parameters .......................................................................... 123
Sensorless PWM Frequency ................................................................. 124
Sensorless Auto-tuning .......................................................................... 124
Closed Loop Modes in Sensorless ........................................................ 125
Operating Brushless Motors .................................................................. 125
Stall Detection ....................................................................................... 125
Speed Measurement using the angle feedback Sensors ...................... 126
Distance Measurement using Hall, SSI or other Sensors ...................... 126
SECTION 9
AC Induction MotorOperation ................................................................ 127
Introduction to AC Induction Motors ...................................................... 127
Asynchronous Rotation and Slip ............................................................ 128
Connecting the Motor ............................................................................ 129
Selecting and Connecting the Encoder .................................................. 129
Testing the Encoder ............................................................................... 129
Open Loop Variable Frequency Drive Operation .................................... 130
Figuring the Motor’s Volts per Hertz ...................................................... 130
Maintaining Slip within Safe Range ....................................................... 131
Closed Loop Speed Mode with Constant Slip Control .......................... 131
Field Oriented Control (FOC) mode Operation ...................................... 132
Configuring FOC Torque Mode............................................................... 133
Configuring FOC Speed Mode ............................................................... 134
Speed Limiting in FOC Torque Mode ..................................................... 135
SECTION 10
Closed Loop Speed and Speed-Position Modes ................................................ 137
Modes Description ................................................................................ 137
Closed Loop Speed Mode ..................................................................... 137
Closed Loop Speed Position Control ..................................................... 137
Motor Sensors ....................................................................................... 138
Tachometer or Encoder Mounting ......................................................... 138
Tachometer wiring ................................................................................. 138
Brushless Hall Sensors as Speed Sensors ............................................ 139
Speed Sensor and Motor Polarity .......................................................... 139
Controlling Speed in Closed Loop .......................................................... 140
PID Description ...................................................................................... 141
PID tuning in Closed Loop Speed Mode ................................................ 142
PID Tuning in Speed Position Mode ....................................................... 143
Error Detection and Protection .............................................................. 144
SECTION 11
Closed Loop Relative and Tracking Position Modes ............................................ 145
Modes Description ................................................................................ 145
Position Relative Mode .......................................................................... 145
Position Tracking Mode .......................................................................... 145
Selecting the Position Modes ................................................................ 146
Position Feedback Sensor Selection ...................................................... 146