User Manual

Advanced Digital Motor Controllers User Manual 7
Sensor Error Detection .......................................................................... 130
Speed Measurement using the angle feedback Sensors ...................... 131
Distance Measurement using Hall, SSI or other Sensors ...................... 131
SECTION 9
AC Induction MotorOperation ................................................................ 133
Introduction to AC Induction Motors ...................................................... 133
Asynchronous Rotation and Slip ............................................................ 134
Connecting the Motor ............................................................................ 135
Selecting and Connecting the Encoder .................................................. 135
Testing the Encoder ............................................................................... 135
Open Loop Variable Frequency Drive Operation .................................... 136
Figuring the Motor’s Volts per Hertz ...................................................... 136
Maintaining Slip within Safe Range ....................................................... 137
Closed Loop Speed Mode with Constant Slip Control .......................... 137
Field Oriented Control (FOC) mode Operation ...................................... 138
Configuring FOC Torque Mode............................................................... 139
Configuring FOC Speed Mode ............................................................... 140
Speed Limiting in FOC Torque Mode ..................................................... 141
Induction Motor Parameters Calculation ................................................ 141
No load testing ....................................................................................... 141
Locked rotor testing ............................................................................... 144
Optimal slip calculation .......................................................................... 146
SECTION 10
Closed Loop Speed and Speed-Position Modes ................................................ 147
Modes Description ................................................................................ 147
Closed Loop Speed Mode ..................................................................... 147
........................................................................................................... 147
Closed Loop Speed Position Control ..................................................... 147
Motor Sensors ....................................................................................... 148
Tachometer or Encoder Mounting ......................................................... 148
Tachometer wiring ................................................................................. 149
Brushless Hall Sensors as Speed Sensors ............................................ 149
Speed Sensor and Motor Polarity .......................................................... 149
Controlling Speed in Closed Loop .......................................................... 151
PID Description ...................................................................................... 151
PID tuning in Closed Loop Speed Mode ................................................ 152
PID Tuning in Speed Position Mode ....................................................... 153
Error Detection and Protection .............................................................. 154
SECTION 11
Closed Loop Relative and Tracking Position Modes ............................................ 155
Modes Description ................................................................................ 155
Position Relative Mode .......................................................................... 155
Position Tracking Mode .......................................................................... 155
Selecting the Position Modes ................................................................ 156
Position Feedback Sensor Selection ...................................................... 156
Sensor Mounting ................................................................................... 156
Feedback Sensor Range Setting ............................................................ 157
Adding Safety Limit Switches ................................................................ 158
Using Current Trigger as Protection ....................................................... 158