Advanced controllers tuning The system performance is based on the controllers tuning which can be performed through the Tune & Test window, that can be open from the Drive Setup dialogue. The controllers must be tuned in the following order: - current controller tuning- speed controller tuning (if active)- position controller tuning (if active) Remark: The active controllers depend on the configuration used and can [...]
DC brushed / brushless motors with analogue (potentiometer) feedback In case of the DC brushed or brushless motors equipped only with an analog feedback sensor (e.g. potentiometer) the position or speed control is possible only with a special firmware, as follows:- F6GEA firmware version for iPOS2401 MX-CAN, iPOS3602 VX/MX/BX/HX-CAN, iPOS3604 VX/MX/BX/HX-CAN and iPOS4808 VX-CAN;- F6GYA firmware version for iPOS4808 [...]
Speed control of a brushless motor equipped only with digital Hall sensors When a brushless motor is equipped only with digital Hall effect sensors and the speed control is required, a special control algorithm can be used. This algorithm is included in the last firmware versions for the iPOS drives and requires a special hardware [...]
The firmware of a Technosoft drive/motor can be updated with the Firmware Programmer tool included in the EasyMotion Studio package. Remark: The firmware programming procedure can be executed only if the firmware present on the drive/motor is compatible with the one to be programmed. The compatibility between firmwares is verified by the Firmware Programmerbefore starting the programming procedure. Follow these steps [...]
The control error is a user defined software protection. ERRMAX parameter represents the maximum accepted control error of the most outer loop of the controlled system (i.e. speed or position). If the difference (POSERR/SPDERR) between the reference (TPOS/TSPD) and the feedback (APOS/ASPD) exceeds this value for a time that is greater than the value specified [...]
The "Integral Limit (%)" is the limit for the integral part of a PI or PID controller which is used to eliminate the stationery error (and will manage to do that provided the output of the controller is not saturated). At the beginning of a motion, where the error is rather large (the reference has started [...]
Over Current Protection – Drive Setup [GB/CM] The over-current protection it is triggered if the motor current remains above the over-current limit for a time interval longer than the over-current time. The maximum value for the over-current limit is set to motor peak current (unless the drive peak current is smaller). The over-current time must be set according with [...]
I2t Protection – Drive Setup [GB/CM] The I2t protection (motor I2t protection) prevents motor damage due to long over-current operation. In order to set this protection, you need to select a point on the I2t motor thermal protection curve, and then input the I2t over-current value and the I2t time in the Drive Setup dialog. These points, together with the nominal [...]
The I2t protection works as a long time protection and the over-current as an immediate protection. Let's take the over-current protection first. We assume that the over-current value is 4 A for 500 ms. With this setting, a current of 4 A or higher that is maintained through the motor for more than 500 ms will trigger the protection. Now, if we think [...]
Control Error Protection – Drive Setup [GB/CM] The control error protection depends on the control mode: - In position control, it is triggered if the absolute value of the position error remains higher than the position error limit for a time interval longer than the position error time.- In speed control, it is triggered if the absolute value of the [...]
