ABB 086318-001 Voltage monitoring module

1  Set both ARF0 and ARF1 to 400 Hz and set KVP low enough to prevent oscillation. 

2. Increase KVP slowly until oscillation at the resonant frequency just begins. Then, reduce KVP slightly until the oscillation just stops. Compute the velocity loop bandwidth using the formula given at the beginning of this section. If the velocity loop bandwidth is less than .25 times the value of ARF0 and ARF1, then proceed to Step 

3. Otherwise, go to Step 4. 3. Decrease both ARF0 and ARF1 by 20% and go back to Step 2. 

4. The velocity loop bandwidth should now be approximately one quarter the value of ARF0 and ARF1. For margin, reduce KVP, ARF0, and ARF1 by 20%.

Some backlash may be unavoidable

 especially when gear reduction is used. If backlash is present, the inertia match must be good (load inertia should be roughly equal to motor inertia) for good servo performance. Gearing reduces the inertia reflected to the motor by the square of the gear reduction from motor to load. Therefore, select a gear ratio to give the required match.

Current ripple 

The velocity feedback signal in standard PC830 drives operating with the standard 20 arcmin resolver can have up to 3% p-p ripple. The resulting motor torque current ripple, with no ARF0/ARF1 filtering, can be calculated using the following formula:There can be cause for concern when this p-p number exceeds 40% of the drive’s or motor’s current rating. The motor current should be monitored using Dac Monitors on J2-4 to insure actual ripple current, with ARF0/ARF1 filtering, is not excessive. Motor current ripple can often be reduced by lowering the ARF0, ARF1 low-pass filter break frequencies. This benefit is limited by velocity loop bandwidth and stability constraints. Velocity feedback ripple, and hence motor current ripple, can also be reduced by specifying a higher accuracy resolver.

                                                                        

Brand display

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