6motor interface – Lenze E94AxPExxxx User Manual
Page 200
6
Motor interface
6.4
Servo control (SC)
200
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
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How to set the current setpoint filters:
1. Adjust the current control loop.
2. Go to
and adapt the reset time of the speed controller to the filter time constant of
the speed filter (
) and the equivalent time constant of the current control loop:
= 16 * (
+ 200 μs)
Note: The setting of
incorporates the equivalent time constant of the current
control loop. The indicated 200 μs are typical in a power range of up to 20 kW. Beyond it,
higher time constants may occur.
3. Slowly increase the proportional gain in
until the speed control loop starts to
become unstable (acoustic determination or measuring of the motor current).
4. Measure the oscillation frequency using an oscilloscope (observe current or speed).
5. Set the measured oscillation frequency in
as filter frequency.
6. Set "50%" of the filter frequency in
as filter width.
• Example: Filter frequency = 200 Hz filter width = 100 Hz.
7. Set "40 dB" in
as filter depth.
• If the filter depth is set to "0 dB" (default setting), the filter is not active.
8. Further increase the proportional gain in
until the speed control loop starts to
become unstable again.
• If the oscillation frequency has changed now, readjust the filter frequency by trimming.
The use of a second filter is ineffective here.
• If the oscillation frequency remains the same, readjust the filter depth and/or the filter
width by trimming (the first reduces the amplitude, the second lets the phase rotate
faster).
• Repeat step 8 until the desired behaviour or the limit of a sensible speed controller gain
has been reached.
9. Save parameter set (
= "11: Save start parameters").
Note!
Readjust the speed controller after setting the current setpoint filter.