Parameterization of a sensor less spindle

Example

A terminal drive shall be set up as a sensor less spindle.

The digital to analog conversion terminal delivers an output voltage of 10 V at a digital input value of 32768 digits.

At an input voltage of 10 V the motor has a velocity of 3000 revolutions per minute.

To set up a sensor less spindle the following steps are necessary:

1. Configuration of a spindle without position input but with a DA-converter output channel.
2. Setting axis mode to open position loop mode.
3. Setup of velocity scaling.

1. Step Configuration of a spindle without sensor

A configuration tool is used to configure a sensor less spindle. The basic configuration is done like a NC-spindle (see also Chapter NC spindle).

2. Step Activation of command velocity output

In the axis parameter list parameter P-AXIS-00320 must be set be set:

antr.operation_mode     OPEN_POSITION_LOOP_MODE

3. Step Parametrization of the velocity scaling

The axis parameters P-AXIS-00207, P-AXIS-00206 and P-AXIS-00205 have to be set:

From the example above: The output of the command velocity to the drive is in revolutions per minute:

antr.v_time_base             0

An output of 32768 digits the motor velocity is 3000 revolutions per minute, this correspondents to an velocity of 3000 * 360°/min = 1080000°/min.

Conversion in the internal format leads to:

1080000° * 1000 = 1080000000.

Therefore:

antr.v_reso_nom    32767
antr.v_reso_denom  1080000000

Parameters for the sensor less spindle