Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 94)

9400 HighLine | Parameter setting & configuration
Motor interface
Extended commissioning | Optimise the response to setpoint changes by means of the torque
94 Firmware 1.37 - 09/2006
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How to optimise the torque feedforward control:
1. Run a typical speed profile and record the inputs and outputs of the speed
controller with the Oscilloscope .
(C 416)
• Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
Torque.dnOutputSpeedCtrl (speed controller output)
Torque.dnTotalTorqueAdd (torque feedforward control)
• Application variable to be recorded (if available):
L_LdMonitFollowError1.dnFollowErrorIn_p (following error)
It is essential for optimising the response to setpoint changes to monitor the speed
controller output (Torque.dnOutputSpeedCtrl) and the torque feedforward control
(Torque.dnTotalTorqueAdd). The effect of the feedforward control can also be
observed in the following error.
2. Select the signal source required for the torque setpoint (feedforward control path)
under C00276 .
3. Estimate the mass inertia of the load and set it under C00273/2 .
4. Repeat the oscilloscope recording (see step 1).
Now the oscillogram should show that part of the required torque is generated by
the feedforward control (Torque.dnTotalTorqueAdd) and the speed controller
output signal (Torque.dnOutputSpeedCtrl) should be correspondingly smaller. The
resulting following error decreases.
5. Change the setting under C00273/2 and repeat the oscilloscope recording until the
intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved
(see signal characteristics in Fig. [5-8] ).
6. Save parameter set ( C00002 = "11").