Rockwell Automation SA500 Drive Configuration and Programming - Manual (Page 104)

B-2 SA500 Drive Configuration and Programming
Resolver Alignment Variable
For brushless drive control, the resolver shaft and the rotor shaft must be aligned to
ensure that maximum torque is generated. This alignment procedure is performed
automatically by the operating system when the alignment test is commanded by
setting bit 1 register 100/1100.
This procedure will cause the motor to move less than one revolution in both forward
and reverse directions for less than one minute. If this motion would be harmful to your
machine, uncouple the motor from the load to run this test. The result o this procedure
is stored in RES_ALN%. The resulting value must not be altered by the user unless
the resolver is changed or moved relative to the motor shaft.
Speed Loop Gain Variables
RES_GAN% Resolver Gain
When RES_GAN% is equal to zero, the gain
tuning procedure is performed automatically by
the operating system. Zero is the default value.
The value can range from 0 to 255 counts, with
1 count representing 0.15 volts of gain.
8QLWV &RXQWV
'HIDXOW 9DOXH
/RZ /LPLW
+LJK /LPLW
6WHS
This value should be generated using the auto-tuning procedure because the PMI
Processor can take into account the entire resolver circuit when setting the proper
gain value.
If the value is adjusted too low, a Resolver Broken Wire fault (register 202/1202,
bit 8) will be generated. If the gain needs to be re-calibrated, reset the value of
RES_GAN% to zero. However, do not reset the value of RES_GAN% to zero while
the inner loop is running (i.e., PMI_ON@ is set) or the drive fault will be generated.
RES_ALN% Resolver Alignment
The RES_ALN% local tunable contains the
offset value required to bring the rotor and
stator fields 90° apart. Each count represents
0.088°. A value of 4096 = 360° (0°). 8QLWV &RXQWV
'HIDXOW 9DOXH
/RZ /LPLW
+LJK /LPLW
6WHS
J_BAR% J Bar
The J_BAR% local tunable represents the
amount of time (in msec) for the motor to reach
rated full-load speed at rated current.
8QLWV &RXQWV
'HIDXOW 9DOXH
/RZ /LPLW
+LJK /LPLW
6WHS
This tunable is only used when the speed/position loop is active. It must be set to
zero at all other times. See the description of register 157/1157 in chapter 3 for
more information.