42_NORDAC vector operating instructions 7.2.5.2 Control with a digital actual value (optional) This type of control is superior in many respects to other techniques or uncontrolled systems. ‘+ maximum torque even at standstill torque limit can be set with great accuracy ‘© no isk of the motor pulling out ‘* exact speeds and true running even at very low speeds down to "zero" | actual value signal: Prior to starting-up connect the incremental shaft encoder which is mounted to the motor as indicated in the Instructions For Use (cf. section 4.2). The rotating field of the incremental encoder must be identical with that of the motor. If this is not the case (e.g. in NORD motors with HG 660 transducer), tracks A+ and A- must be interchanged. The "Extra Functions" menu group includes the "Servo Mode" parameter (ony! with the CTD option). When this parameter has been programmed to "ON", the display will show the parameters through which this type of control can be optimized. Shaft encoder resolution : This is where to set the number of increments/revolution of the incremental shaft encoder being used. High resolution factors will enhance control action, especially when speeds are low. Normalization of the control parameters is such that any increase of the P or of the | component values will accelerate control response. They shouldn't rise to high though because this would result in excessive osci lations of the controller. If by way of contrast the said components are reduced, transient oscillation is smoothed but also prolonged in duration ‘Speed controller P: Frequency jump on control deviation, related to control variance: ‘Speed controller |: Frequency change / time, related to control variance Current controller P: Frequency jump in case of control deviation, related to control offset. Current controller |: maximum voltage change that can be brought about by the current controller Field weakening controller : The field weakening controller controls the flux setpoint whenever frequencies are in the field weakening range, and thus determines the vif (voltagelfrequency) break point. Starting-up: Speed control with incremental shaft encoder feedback AAs the factory settings cannot be ideal for any application, it is all right for you to modify and optimize the control parameters. For instance if large flywheel masses are involved as in revolving tables, lower the | factor of the speed controller even before putting the drive into operation As for the current controller parameters, further adjustment of the factory settings will rarely be necessary. The transient process can best be optimized by evaluating the speed supplied by the analogue output or by oscillographing the actual value voltage.