User`s manual

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW
PAGE 5-54
a
1
= 1 / (1 + 2*π* motor_velocity_filter_cutoff_factor);
b
0
= 2*π*motor_velocity_filter_cutoff_factor / (1 + 2*π* motor_velocity_filter_cutoff_factor);
Setting motor_velocity_filter_cutoff_factor to 0.5 sets the filter cut-off to half the motor velocity loop sample rate.
Hence, the default motor speed cut-off factor of 0.25 will set the filter cut-off to 625Hz, when the velocity sample
rate is 2.5KHz.
5.11.3.4 Motor Velocity Limiting
The motor_max_velocity (0x6410/8) is set as one of the motor parameters, when a drive is configured for use with a
particular motor.
A linear de-rating of the torque applied to the motor is implemented when the velocity of the drive exceeds the
motor max velocity. The de-rating is such that the demand torque is applied when at the velocity limit, but that
torque is reduced to zero, when at 5% above the velocity limit. The de-rating gives a smoother profile, than simply
zeroing torque if the velocity limit is exceeded.
5.11.3.5 Field Weakening
The field weakening function extends the torque-speed performance of the drive/motor combination. There are two
parameters available to configure the field weakening performance, but in general these parameters can be left at
their default values.
current_scaling_factor_field_weakening (0x2410/24) is the fraction of the maximum current used in the field
weakening algorithm.
field_weakening_vmax_scaling_factor (0x2450/3) is the fraction of the maximum bus voltage used in the field
weakening algorithm to allow for bus voltage variation due to dead-time compensation, on-state voltage drop,
acceleration effects, etc.
5.11.3.6 Current Loop Tuning
TBA
WARNING - DANGER OF REDUCED DRIVE MONITORING
FUNCTIONALITY AND/OR INTERMITTENT SOFTWARE WATCHDOG
TIMEOUT
The DS2100 cannot be guaranteed to run with field weakening enabled when the
profile generator is also enabled and by extension the drive cannot
be operated in
the DS402 profile position mode while field weakening is enabled.
If field weakening is enabled then the parameter profile_generator_bypass_ switch
(0x2E40/0) must be set to 0 (default value is 1) and profile position mode not used.