Software for the synchronization of axes - Kollmorgen

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