Function library
Function blocks
3.5.43 Internal motor control (MCTRL)
3−210
l
EDSVS9332P−EXT DE 2.0
Function
l Current controller
l Torque limitation
l Additional torque setpoint
l Speed controller
l Torque control with speed limitation
l Speed setpoint limitation
l Angle controller
l Quick stop QSP
l Field weakening
l Switching frequency changeover
3.5.43.1 Current controller
Adapt current controller via C0075 (proportional gain) and C0076 (reset time) to the machine
connected.
) Note!
Use C0086 to select a suitable motor from the motor selection list. In this way, the
parameters of the current controller are automatically set to the correct values.
3.5.43.2 Additional torque setpoint
The input MCTRL−M−ADD serves as torque setpoint or additional torque setpoint, depending on the
control of the input MCTRL−N/M−SWT. The additional torque setpoint can be used e.g. for friction
compensation or speed injection (dv/dt).
l When MCTRL−N/M−SWT = LOW the speed control is active.
– MCTRL−M−ADD is added to the output of the n−controller.
– The limits defined by the torque limitations MCTRL−LO−M−LIM and MCTRL−HI−M−LIM
cannot be exceeded.
l When MCTRL−N/M−SWT = HIGH, the torque control is active.
– MCTRL−M−ADD acts as torque setpoint
– The n−controllers have a monitoring function.
l The torque setpoint is specified in [%] of the max. possible torque (see C0057).
– Negative values mean a torque with CCW rotation of the motor.
– Positive values mean a torque with CW rotation of the motor.
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