i950: Servo control ASM and Lh saturation characteristic: Setting 0x2C07:9 not equal to 100% has a strong effect on the torque behavior (fixed from V01.10.00)
Removed from:
Servo inverter i950 FW: from V01.10.00
Behavior of the new version:
The described deviations in torque behavior due to the interaction of the parameters of the Lh saturation characteristic no longer occur. The parameterized value of the Lh characteristic curve (0x2C07:9) is now btaken into account in an appropriate manner when calculating internal control values.
Compatibility parameter 0x2DE0:28 bit 5:
0x2DE0:28 bit 5 = 1: Torque behavior, as effective with previous SW version. Setting 0x2C07:9 is not taken into account.
Tips:
In order to prevent a change in the torque behavior after a firmware update to the new version, the Lh saturation characteristic should be adjusted before the update so that the value for interpolation point 9 is close to 100% (100% +/- 5%). If necessary, the main inductance (0x2C02:2) must be adjusted.
Alternatively, the behavior of the previous version can be activated via the compatibility bit (0x2DE0:28 bit 5 = 1).
Compatibility parameter 0x2DE0:28 bit 5:
0x2DE0:28 bit 5 = 1: Torque behavior, as effective with previous SW version. Setting 0x2C07:9 is not taken into account.
In practice, the compatibility setting will only actually be used in very special cases, e.g. when the font size is adjusted manually.For example, if a certain torque behavior has been created by manually adjusting the Lh saturation characteristic curve with a previous version, with interpolation point 9 not equal to 100%.
Description of the behavior: Lh saturation characteristic (0x2C07:01..17): When parameterizing the Lh nominal point under 0x2C07:9 not equal to 100%, in the torque behavior an exaggeration or downward deviation may occur.
Background: For the ASM servo control and the associated motor model, some internal values based on the parameterized main inductance Lh (0x2C02:2) is calculated. This value is assumed to be effective in the motor at nominal magnetizing current (0x2C02:3). The main inductance (Lh) is subject to saturation influences, which are described and taken into account by the Lh saturation characteristic curve under 0x2C07:x. By definition, interpolation point 9 of this characteristic curve describes the saturation of Lh at nominal magnetizing current and is therefore normally set to 100%.
The purpose of taking the Lh saturation characteristic curve into account is to ensure that the ratio of target to actual torque is linear, regardless of magnetization saturation effects.
Lh nominal point and Lh characteristic curve can be set independently of each other. The expectation is that if the Lh value is doubled and the characteristic curve values are halved, the behavior of the control remains the same. This is not yet the case because the value of interpolation point 9 has not yet been taken into account when calculating internal control model variables.
Under what conditions does the behavior occur?
Lh saturation characteristic: setting 0x2C07:9 significantly different from 100%. Only with values less than 95% or greater than 105% are snoticeable effects on the torque behavior are to be expected.
