Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7.3.2 Parameters KVIRB, KVIRIN, KSIN and KSIINVThese parameters depend on the resolver secondary voltages. For the types listedabove, the default values should not be modified, namely :AddressDefault valueKVIRB 57 (hexa : 39) 19,700 (hexa : 4CF4)KVIRIN 58 (hexa : 3A) 6,954 (hexa : 1B2A)KSIN 59 (hexa : 3B) 3,277 (hexa : CCD)KSIINV 60 (hexa : 3C) 5,120 (hexa : 1400)7.3.3 Parameter NPPOLSee paragraph 7.4.1 : Motor file libraries. This parameter defines the relation betweenthe number of motor poles and the number of resolver poles.Example : Resolver having 2 poles (1-speed), and a motor with 8poles : NPPOL = 4.Address :61 (hexa : 3D).Default value : 4.7.3.4 Parameter NVERNThis parameter is used when dual resolvers are used to obtain an absolute positioningsystem. In this case, NVERN is equal to the length of absolute measurement of theposition, expressed in number of turns.Example :For 2 resolvers (1-speed) connected with one ratio reducer256/255, the measurement is absolute over 256 turns.Then NVERN = 256 (hexa : 100).Address :62 (hexa : 3E).Default value : 1.34
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7.4 MOTOR PARAMETERS7.4.1 Motor File LibrariesFor synchronous and induction motor types which have been used successfully withST1 digital motion controllers, all corresponding parameters have already beendetermined and checked. They were brought into MS-DOS compatible files andlibraries. Read manual No. 024.8038, "ST1-EXPERT", for further details.7.4.2 Parameter CDEPHAThis parameter defines the phase relationship between the zero of the resolver andzero of the motor (if synchronous). The resolver should usually be installed accordingto a procedure described in the operation manual. CDEPHA is then set to 0. Whensystem constraints prevent the resolver from being ideally aligned to the motor poles,the angular difference can be compensated by the CDEPHA parameter.Address : 68 (hexa : 44).Default value : 0.7.4.3 Parameter KTINVSee paragraph 7.4.1 : Motor file libraries. This parameter defines the torque constantof the motor winding. The value 4,096 (hexa : 1000) corresponds to a motor whichsupplies a torque of 1 Nm when the current is 1A (peak value) or 0.71 A RMSIf the motor supplier specifies the value K T [Nm/A] using RMS value of the current,KTINV is calculated as follows :KTINV = 2 . 4,096 / K TExample :If K T = 0.76 Nm/A RMS , KTINV = 7,622 (hexa : 1DC6).For induction (asynchronous) motor the K T value is generally not available. Proceedthen as follows :1) Nominal torque : M n [Nm] =PWn[ ]n [ rpm] ⋅30 πn2) "Active" nominal current : Ia RMS [A] = In RMS . cos ϕ3) Constant torque : K T =MIan[ Nm][ A]RMSAddress : 69 (hexa : 45).Default value : 8,192 (hexa : 2000).35
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