Torque/Force Control Config Attrib
These are the torque/force control configuration attributes associated with a Motion Control Axis.
Adaptive Tuning Configuration
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | USINT | 0 | - | - | Enumeration: 0 = Disabled (R) 1 = Tracking Notch (R) 2 = Gain Stabilization (O/PV) 3 = Tracking Notch and Gain Stabilization (O/PV) 4 =Gain Optimization (O/PV) 54-255 = Reserved |
The Adaptive Tuning Configuration value controls the operation of the Adaptive Tuning function. This function periodically collects and analyzes Torque Reference signal data to identify resonances and closed loop instabilities in the system.
When enabled, the Adaptive Tuning function can adjust up to four tracking notch filters to attenuate resonances and also adjust servo loop gain and filter values to improve and stabilize the control loop.
In this section, attributes associated with the four torque notch filter instances are identified collectively with an “n” in the attribute name, where n can be null (blank) for instance 1, or range from 2 to 4, for the additional notch filter instances. The Adaptive Tuning Tracking Notch Filters attribute value defines how many Torque Notch Filters the Adaptive Tuning function can automatically adjust. For example, when Adaptive Tuning Tracking Notch Filters is set to 3, the Adaptive Tuning function controls the values of Torque Notch Filter Frequency, Torque Notch Filter 2 Frequency, and Torque Notch Filter 3 Frequency, but does not have any impact on Torque Notch Filter 4 Frequency.
During each Adaptive Tuning update (nominal update period is 1 second) the Adaptive Tuning function is allowed to adjust one control parameter based on detected conditions. Specifically, in any given update, the function can only adjust the Adaptive Tuning Gain Scaling Factor, or the Torque Low Pass Filter Bandwidth, or a single Torque Notch Filter instance. The Adaptive Tuning function determines which Torque Notch Filters instance is updated based on a FIFO buffer whose size is constrained by the configured Adaptive Tuning Tracking Notch Filters attribute value.
When the Adaptive Tuning Configuration is set to Disabled, the controller configured servo loop gain and filter attribute values are applied directly to the control structure of the associated axis without intervention of the Adaptive Tuning function. However, the Adaptive Tuning function continues to set the Torque Notch Filter Frequency Estimate to identified resonance frequencies, load the magnitude of the resonances to the Torque Notch Filter Magnitude Estimate, and load an estimated width to the Torque Notch Filter Width Estimate.
When the Adaptive Tuning Configuration is set to Tracking Notch, up to four torque notch filters are automatically adjusted by the Adaptive Tuning function to attenuate each resonance frequency detected. Specifically, the Torque Notch Filter “n” Frequency Estimate attribute value, determined by the Adaptive Tuning function, is applied to the Torque Notch Filter “n” Frequency value of the associated notch filter, thus overriding the controller configured Torque Notch Filter “n” Frequency value. In addition, the Adaptive Tuning function applies the Torque Notch Filter “n” Width Estimate attribute value to the Torque Notch Filter “n” Width, sets the Torque Notch Filter “n” Depth to zero, and the Torque Notch Filter “n” Gain to one. The controller configured Torque Notch Filter “n” attribute values are not overwritten as a result of this operation, nor do the controller configured values have any effect on Torque Notch Filter “n” behavior. All other controller configured servo loop attributes are applied directly without intervention of the Adaptive Tuning function.
When configured for Gain Stabilization, servo loop gain values and filters are automatically adjusted to stabilize the control loops, when necessary. Specifically, the Load Observer Bandwidth, Load Observer Integrator Bandwidth, Velocity Loop Bandwidth, Velocity Loop Integrator Bandwidth, Position Loop Bandwidth, and Position Loop Integrator Bandwidth attribute values are scaled by the Adaptive Tuning Gain Scaling Factor. The Torque Low Pass Filter Bandwidth Estimate is also applied to the Torque Low Pass Filter Bandwidth to suppress high frequency (mechanical) resonances when necessary. The configured values of these attributes are not overwritten as a result of this operation nor do the configured values have any effect on drive behavior. In this configuration, the controller configured values for the Torque Notch Filter attributes are applied directly to the notch filters without intervention of the Adaptive Tuning function.
When configured for Tracking Notch and Gain Stabilization, up to four torque notch filters are automatically adjusted by the Adaptive Tuning function to attenuate each resonance frequency detected, and servo loop gain values and filters are automatically adjusted to stabilize the control loops.
When configured for Gain Optimization, up to four torque notch filters are automatically adjusted by the Adaptive Tuning function to attenuate each resonance frequency detected. Servo loop gain values and filters are also automatically adjusted to both stabilize and optimize the performance of the control loops.
Specifically, the Torque Notch Filter “n” Frequency Estimate attribute value, determined by the Adaptive Tuning function, is applied to the Torque Notch Filter “n” Bandwidth. The Torque Notch Filter “n” Width Estimate attribute value, determined by the Adaptive Tuning function, is applied to the Torque Notch Filter “n” Width, the Torque Notch Filter “n” Depth is set to zero, and the Torque Notch Filter “n” Gain is set to one. The Load Observer Bandwidth, Load Observer Integrator Bandwidth, Velocity Loop Bandwidth, Velocity Loop Integrator Bandwidth, Position Loop Bandwidth, and Position Loop Integrator Bandwidth attributes are scaled by the Adaptive Tuning Gain Scaling Factor. The Torque Low Pass Filter Bandwidth Estimate is applied to the Torque Low Pass Filter Bandwidth. The configured values of these attributes are not overwritten as a result of this operation nor do the configured values have any effect on drive behavior.
When the Adaptive Tuning Configuration is changed to enable the Tracking Notch Filter function, the Torque Notch Filter “n” Frequency Estimate and Torque Notch Filter “n” Width Estimate values controlled by the Adaptive Tuning function are initialized to the controller configured Torque Notch Filter “n” Frequency and Torque Notch Filter “n” Width attribute values, respectively.
When the Adaptive Tuning feature is enabled, the drive shall persist the feature’s last operational attribute values during a drive power cycle, network disconnect/reconnect, or controller download. One of the few exceptions to this rule is when the Motor ID has changed, in which case the last operational attribute values are reinitialized to the controller configured values. Another exception is related to test services. When running test services, the torque reference filters that include the notch filters and low-pass filters, are typically bypassed while the test is in process. After such tests have completed, the operational attribute values for the Adaptive Tuning feature are reinitialized to the controller configured values.
The Adaptive Tuning function runs periodically to collect and analyzes Torque Reference signal data while the axis is in the Running state, even when the Adaptive Tuning Configuration is set to Disabled. When disabled, the Adaptive Tuning function sets the Torque Notch Filter Frequency Estimate to the identified resonant frequency with the largest magnitude that meets the configured notch filter tuning criteria. The magnitude of the resonance is loaded to the Torque Notch Filter Magnitude Estimate and an estimated width is loaded to the Torque Notch Filter Width Estimate. If not Disabled, the Adaptive Tuning function sets the Torque Notch Filter “n” Frequency Estimate to the identified resonant frequency with the largest magnitude that meets the configured notch filter tuning criteria. The magnitude of the resonance is loaded to the Torque Notch Filter “n” Magnitude Estimate and an estimated width is loaded to the Torque Notch Filter Width Estimate. The Adaptive Tuning status bits in the CIP Axis Status RA attribute are updated each time the Adaptive Tuning function is executed.
The configured notch filter tuning criteria are that the magnitude of the resonant frequency, not associated with the command signal, be above the configured Torque Notch Filter Tuning Threshold and that the frequency of the resonance be between the configured Torque Notch Filter Low Frequency Limit and Torque Notch Filter High Frequency Limit.
When the drive axis is in any other state besides the Running state, the Adaptive Tuning function clears out its sample history, resets the Adaptive Tuning internal logic, and suspends operation. While suspended, the Adaptive Tuning function persists the values of it output estimates (Torque Notch Filter “n” Frequency Estimate, Torque Notch Filter “n” Magnitude Estimate, Torque Notch Filter “n” Width Estimate, and Torque Low Pass Filter Bandwidth Estimate, as well as the Adaptive Tuning Gain Scaling Factor). The values of all the Adaptive Tuning function’s Axis Status bits are also persistent while operation is suspended.
When the Adaptive Tuning Configuration is changed to disable the Gain Stabilization or the Gain Optimization functions, the Adaptive Tuning Gain Scaling Factor is reset to one. In this case, the control configured Torque Notch Filter “n” Frequency, Torque Low Pass Filter Bandwidth, Load Observer Bandwidth, Load Observer Integrator Bandwidth, Velocity Loop Bandwidth, Velocity Loop Integrator Bandwidth, Position Loop Bandwidth, and Position Loop Integrator Bandwidth attribute values are applied directly to the control loop structure without intervention of the Adaptive Tuning function.
When the Adaptive Tuning Configuration is changed to disable the Tracking Notch Filter function, the controller configured Torque Notch Filter “n” attribute values are applied to the Torque Notch Filters without intervention of the Adaptive Tuning function.
When a high frequency resonance with a center frequency between the Torque Notch Filter Low Frequency Limit and the Torque Notch Filter High Frequency Limit is detected with a magnitude above the Torque Notch Filter Tuning Threshold, the resonance's center frequency and magnitude are measured and placed in the Torque Notch Filter “n” Frequency Estimate and the Torque Notch Filter “n” Magnitude Estimate, respectively. A suitable notch filter width is also calculated and placed in the Torque Notch Filter “n” Width Estimate by interpolating a value between the Torque Notch Filter Width Minimum and the Torque Notch Filter Width Maximum based on the location of the Torque Notch Filter Frequency Estimate between the Torque Notch Filter Low Frequency Limit and the Torque Notch Filter High Frequency Limit.
When a low frequency resonance with a center frequency below the Torque Notch Filter Low Frequency Limit is detected with a magnitude greater than the Gain Stabilization Torque Limit threshold line (blue), Gain Stabilization applies two main functions until the low frequency resonance magnitude decreases below this threshold or an instability occurs.
- Gain Stabilization enables and tunes the torque low pass filter to suppress high frequency (mechanical) resonances if any are identified above the low frequency limit. Here, the Torque Low Pass Filter Bandwidth Estimate is applied to the torque low pass filter instead of the Torque Low Pass Filter Bandwidth. The bandwidth estimate is incrementally decreased from its default value until the identified resonances are suppressed or until a low frequency (control) resonance or instability occurs.
- Gain Stabilization detunes control loop gains to suppress any remaining low frequency (control) resonances and stabilize the system.
When the Adaptive Tuning Configuration is set to Gain Optimization, Adaptive Tuning applies the Tracking Notch function if necessary, followed by the Gain Stabilization or Gain Optimization function if necessary.
When a low frequency resonance is detected with an Adaptive Tuning Stability Magnitude Estimate less than the Gain Optimization Torque Limit threshold line (purple), Gain Optimization increases the Adaptive Tuning Gain Scaling Factor to greater than 1.0 in additive increments until the low frequency resonance magnitude increases above this threshold line. This additive increment is fixed and equal to the Gain Optimization Scale Increment when the Gain Optimization Position Error Threshold or the Gain Optimization Velocity Error Threshold is zero or the Gain Optimization Error Type is set to None.
In contrast, when a low frequency resonance is detected with an Adaptive Tuning Stability Magnitude Estimate greater than the Gain Stabilization Torque Limit threshold line, Gain Stabilization decreases the Adaptive Tuning Gain Scaling Factor in multiplier increments of 0.75x until the low frequency resonance magnitude decreases below the threshold.
While in position mode, the Gain Optimization Position Error Threshold can be set to increase the Adaptive Tuning Gain Scaling Factor in increments equal to the Gain Optimization Scale Increment * (a scaler proportional to error) until the Adaptive Tuning Stability Magnitude Estimate increases above the Gain Optimization Torque Limit line OR until the position error is less than the Gain Optimization Position Error Threshold.
When the Gain Optimization Error Type is set to Peak, the position error condition is monitored all the time and when the Gain Optimization Error Type is set to Steady State, the position error condition is only monitored during steady state position. When the Gain Optimization Position Error Threshold is set to zero or Gain Optimization Error Type is set to None, this feature is disabled and the gain scale increment is restored to a fixed value equal to the Gain Optimization Scale Increment.
While in velocity mode, the Gain Optimization Velocity Error Threshold can be set to increase the Adaptive Tuning Gain Scaling Factor in increments equal to the Gain Optimization Scale Increment * (a scaler proportional to error) until the Adaptive Tuning Stability Magnitude Estimate increases above the Gain Optimization Torque Limit line OR until the velocity error is less than the Gain Optimization Velocity Error Threshold.
When the Gain Optimization Error Type is set to Peak, the velocity error condition is monitored all the time and when the Gain Optimization Error Type is set to Steady State, the velocity error condition is only monitored during steady state velocity.
When the Gain Optimization Velocity Error Threshold is set to zero or the Gain Optimization Error Type is set to None, this feature is disabled and the gain scale increment is restored to a fixed value equal to the Gain Optimization Scale Increment.
A timer can be set to switch from Gain Optimization mode to Gain Stabilization mode after a period that is set by the Gain Optimization Time. This is good for cyclic applications that index between two speeds or operating points. Here, a lower speed triggers Gain Optimization each machine cycle while a higher speed triggers Gain Stabilization each machine cycle, however repeated Gain Stabilization may cause degradation because it reacts to momentary instability.
When the Gain Optimization Time is set to zero, this feature is disabled, which is typical for constant speed or non-cyclic applications. The Gain Optimization timer is reset when the Adaptive Tuning Configuration is switched to Tracking Notch and Gain Stabilization and then back to Gain Optimization.
When configured for Gain Optimization, up to four torque notch filters are adjusted by the Adaptive Tuning function to attenuate each resonance frequency detected. Servo loop gain values and filters are also automatically adjusted to both stabilize and optimize the performance of the control loops.
Adaptive Tuning Gain Scaling Factor Min
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PV | Set/SSV | REAL | 0.1 | 0 | 1 |
The Adaptive Tuning Gain Scaling Factor Min attribute sets the lower limit on the Adaptive Tuning Gain Scaling Factor when the Adaptive Tuning function is active and performing Gain Stabilization. This limits how low the Gain Scaling Factor can be reduced by the Gain Stabilization function.
This helps prevent the Adaptive Tuning Gain Stabilization algorithm from decreasing the bandwidth of the control loop to the point where there is insufficient torque to control the load.
Adaptive Tuning Tracking Notch Filters
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | USINT | 4 | 1 | 4 |
The Adaptive Tuning Tracking Notch Filters attribute defines the number of Torque Notch Filter instances the Adaptive Tuning feature automatically configures starting at Notch Filter instance 1. All other Torque Notch Filter instances are unchanged.
Torque Offset
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - C | Set/SSV | REAL | 0 | -100 | +100 | % Motor Rated |
The Torque Offset attribute provides a torque bias when performing closed loop control. This value is summed together with the Torque Trim value that can be sent synchronously to the drive every connection update. Since the Torque Trim value is available as a templated value, real-time torque corrections can be done using the Torque Trim attribute.
System Inertia
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - PV Optional - T | Set/SSV | T | REAL | 0 FD | 0 |  | % Motor Rated / (Motor Units/Sec 2 ) |
Torque or force scaling gain value that converts commanded acceleration into equivalent rated torque/force. Properly set, this value represents the total system inertia or mass.
Torque Calibration Factor - Motoring
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | T | REAL | 0 | 0 | | % |
The Torque Calibration Factor - Motoring value calibrates the Torque Reference signal to match the actual torque applied by the motor. This calibration factor is applied when the drive is applying positive torque producing current, that is, motoring operation. This value is defined as a percent scaling adjustment to the Torque Reference signal. For example, a value of 5% multiplies the Torque Reference signal by a factor of 1.05.
Torque Calibration Factor - Regenerating
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | T | REAL | 0 | 0 | | % |
The Torque Calibration Factor - Regenerating value calibrates the Torque Reference signal to match the actual torque applied by the motor. This calibration factor is applied when the drive is absorbing negative torque producing current, that is, regenerative operation.
This value is defined as a percent scaling adjustment to the Torque Reference signal. For example a value of 5% will multiply the Torque Reference signal by a factor of 1.05.
Backlash Reversal Offset
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - P | Set/SSV | REAL | 0 | 0 | | Position Units |
The Backlash Reversal Offset attribute value is used to compensate for positional inaccuracy introduced by mechanical backlash. Backlash manifests itself when an axis is commanded to reverse direction. During such a reversal, there is a small amount of displacement of the motor that does not translate to displacement of the load due to mechanical play in the machine, for example, through the gearing or ball screw. As a result, there is an error in the control system's indication of the actual position for the axis versus the true position of the mechanical load, that error being equal to the lost displacement due to the mechanical backlash.
Compensation for this positioning error due to mechanical backlash can be achieved by adding a directional offset, specified by the Backlash Reversal Offset attribute, to the motion planner's command position before sending to the drive.
Whenever the commanded velocity changes sign (a reversal), the Logix controller will add, or subtract, the offset value from the current commanded position. This causes the servo to move the motor to the other side of the backlash window and engage the load. It is important to note that the application of this directional offset is transparent to the user; the offset does not have any impact on the value of the Command Position attribute. If a value of zero is applied to the Backlash Reversal Offset, the feature is effectively disabled. Once enabled by a non-zero value, and the load is engaged by a reversal of the commanded motion, changing the Backlash Reversal Offset can cause the axis to shift as the offset correction is applied to the command position.
Backlash Compensation Window
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - P | Set | REAL | 0 | 0 | | Position Control Units |
Defines a window around the command position. When the absolute value of the Position Error is within this window, the effective torque/force scaling gain, Kj, is reduced by a factor of the ratio of the Position Error and the Backlash Compensation Window. When the Position Error is outside the window, the configured torque scaling gain, Kj, is applied. This variation in the effective Kj attempts to compensate for the system inertia variation due to the backlash and, thus, eliminate gearbox chatter
Friction Compensation Sliding
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 100 | % Motor Rated |
Value added to the current/torque command to offset the effects of coulomb friction. This attribute is not applicable when the Friction Compensation Method is supported and set to Disabled.
Friction Compensation Static
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 100 | % Motor Rated |
Value added to the current/torque command to offset the effects of static friction (sometimes referred to "stiction"). This attribute is not applicable when the Friction Compensation Method is supported and set to Disabled.
Friction Compensation Viscous
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 100 | % Motor Rated / (Motor Units/Sec) |
Value added to the current/torque command to offset the effects of viscous friction, for example, friction that is proportional to speed. This attribute is not applicable when the Friction Compensation Method is supported and set to Disabled.
Friction Compensation Method
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | USINT | 0 | - | - | Enumeration: 0 = Disabled (R) 1 = Torque Reference (O) 2 = Velocity Reference (O/PV) 3 = Velocity Feedback (O) 4-255 = reserved |
The Friction Compensation Method attribute selects the specific method used for friction compensation or disables the feature entirely.
The Torque Reference selection configures the friction compensation function to use the sign of the Torque Reference signal to apply additional torque to the motor to compensate for friction.
The Velocity Reference selection configures the friction compensation function to use the Velocity Reference signal to govern the amount of additional torque to apply to the motor to compensate for friction.
The Velocity Feedback selection configures the friction compensation function to use the Velocity Feedback signal to govern the amount of additional torque to apply to the motor to compensate for friction.
If the Friction Compensation Method is not supported, the Friction Compensation feature reverts to the capability prior to the addition of the Friction Compensation Method. This means Friction Compensation only operates based on the sign of the Torque Reference signal. The Friction Compensation attributes that may be supported are limited to Friction Compensation Window, Friction Compensation Static , Friction Compensation Sliding and Friction Compensation Viscous.
Friction Compensation Start Speed
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | Velocity Units |
The Friction Compensation Start Speed attribute establishes the speed that, once exceeded, enables the friction compensation function to start applying additional torque to the motor to compensate for friction.
The initial friction compensation torque when the Start Speed condition is met is given by the Friction Compensation - Static value. Friction compensation shall remain active until the magnitude of the velocity signal drops below the Start Speed minus the Friction Compensation Hysteresis value.
The velocity signal source can be either the Velocity Reference or Velocity Feedback depending on the Friction Compensation Method selection.
This attribute is not applicable when the Friction Compensation Method is not supported or when it is set to Torque Reference or Disabled.
Friction Compensation Hysteresis
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | Velocity Units |
The Friction Compensation Hysteresis attribute is subtracted from the Friction Compensation Start Speed value to establish the speed that, once dropped below, disables the friction compensation function from applying additional torque to the motor to compensate for friction.
The velocity signal source can be either the Velocity Reference or Velocity Feedback depending on the Friction Compensation Method selection.
This attribute is not applicable when the Friction Compensation Method is not supported or when it is set to Torque Reference or Disabled.
Friction Compensation Breakaway Time
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.006 | 0 | | Sec |
The Friction Compensation Breakaway Time attribute sets the amount of time that the friction compensation function applies additional torque equal to the Friction Compensation - Static value once the Friction Compensation Start Speed condition is met to break free from the hold of static friction.
After the Breakaway Time expires, the amount of added torque applied by the friction compensation method ramps down to the value set by the Friction Compensation – Sliding attribute. (The ramp rate is device specific and not configurable). This constant non-viscous sliding friction compensation torque is added to the speed dependent viscous friction compensation torque (based on the Friction Compensation –Viscous value) to compensate for both these components of friction while the motor is moving.
This attribute is not applicable when the Friction Compensation Method is not supported or when it is set to Torque Reference or Disabled.
Friction Compensation Window
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - P | Set | REAL | 0 | 0 | | Position Control Units |
Defines a window around the command position. When the absolute value of the Position Error is within this window, the effective Friction Compensation value is reduced by a factor of the ratio of the Position Error and the Friction Compensation Window. When the Position Error is outside the window, or when the axis is being commanded to move, the normal friction compensation algorithm applies.
This attribute is only applicable when the Friction Compensation Method is set to Torque Reference or the Friction Compensation Method attribute is not supported by the drive.
Motion Voltage Feedback Offset Limit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PVT | Set/SSV* | REAL | 20 | 0 | 100 | % Motor Rated |
Maximum voltage offset allowed when using motor voltage feedback for torque control. A voltage offset exceeding this value results in an Excessive Motor Voltage Feedback Offset exception.
Not applicable when the Motor Voltage Feedback Source is configured as Command Voltage.
Motor Voltage Feedback Offset Mode
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PVT | Set/SSV* | USINT | 0 | - | - | Enumeration: 0 = Static 1 = Dynamic |
Determines when motor voltage feedback offset is measured. This voltage offset corresponds to the amount of imbalance in motor phase voltage. This voltage offset is used in determining the motor voltage feedback for torque control.
Static: Voltage offset is not measured when set to Static. Voltage offset is measured one time when the drive detects the value change from Dynamic to Static, (measure at falling edge).
Dynamic: Voltage offset is continuously measured when the axis is Enabled.
Not applicable when the Motor Voltage Feedback Source is configured as Command Voltage.
Motor Voltage Feedback Source
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PVT | Set/SSV* | USINT | 0 | - | - | Enumeration: 0 = Command Voltage 1 = Torque Accuracy Module Voltage Feedback |
Selects the source of motor voltage feedback used for torque control.
Command Voltage: No measured or estimated motor voltage feedback is available so use command values.
Motion Voltage Feedback Threshold
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PVT | Set/SSV* | REAL | 0 | 0 | 100 | % Motor Rated |
When voltage feedback is less than this threshold, torque control zeroes the motor voltage feedback. When voltage feedback exceeds this threshold, torque control uses the measured voltage feedback.
Not applicable when the Motor Voltage Feedback Source is configured as Command Voltage.
Torque Lead Lag Filter Bandwidth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 10 4 | Filter Frequency Units |
Sets the pole frequency for the torque reference Lead-Lag Filter. A value of 0 disables the filter.
Torque Lead Lag Filter Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | |
Sets the high frequency gain of the torque reference Lead-Lag Filter. A value greater than one results in a lead function and value less than one results in a lag function. A value of 0 results in a first order low pass filter function. A value of one disables the filter.
Torque Low Pass Filter Bandwidth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | T | REAL | 0 FD | 0 | 10 4 | Filter Frequency Units |
Break frequency for the low pass filter applied to the torque reference signal.
Torque Notch Filter Frequency
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 10 4 | Filter Frequency Units |
Center frequency of the notch filter instance applied to the torque reference signal. This object revision of the CIP Motion specification supports up to four torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
Torque Notch Filter 2 Frequency
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 10 4 | Filter Frequency Units |
Center frequency of the notch filter instance applied to the torque reference signal. This object revision of the CIP Motion specification supports up to four torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
Torque Notch Filter 3 Frequency
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 10 4 | Filter Frequency Units |
Center frequency of the notch filter instance applied to the torque reference signal. This object revision of the CIP Motion specification supports up to four torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
Torque Notch Filter 4 Frequency
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 10 4 | Filter Frequency Units |
Center frequency of the notch filter instance applied to the torque reference signal. This object revision of the CIP Motion specification supports up to 4 torque notch filter instances connected in series. A value of 0 for this attribute disables this filter.
Torque Notch Filter Width
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.707 | 0 | | See Semantics |
The Torque Notch Filter Width attribute sets the damping ratio, Zd, in the denominator of the torque notch filter equation that determines the width of the notch for the first torque notch filter instance.
The frequency range over which signal attenuation is more than 3 dB can be calculated as follows:
Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z
2
- .5z4
- z6
).Where,
z = Notch Filter Depth / Notch Filter Width
When Notch Depth is set to 0, z = 0.
Torque Notch Filter Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Semantics |
The Torque Notch Filter Depth attribute sets the damping ratio, Zn, in the numerator of the torque notch filter equation that determines the depth of the notch for the first torque notch filter instance.
The notch filter depth at the center frequency can be calculated as follows:
Depth (dB) = 20log10 (z).
Where,
z = Notch Filter Depth / Notch Filter Width
When Torque Notch Depth is set to 0, z = 0.
Torque Notch Filter Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | | See Semantics |
The Torque Notch Filter Gain attribute sets the high frequency gain of the first torque notch filter instance. For notch filter operation, the value for this attribute is set to 1. A value greater than one results in a lead-lag filter function and a value less than one results in a lag-lead filter function. A value of 0 results in a low pass filter function.
Torque Notch Filter 2 Width
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.707 | 0 | | See Semantics |
The Torque Notch Filter 2 Width attribute sets the damping ratio, Zd, in the denominator of the torque notch filter equation that determines the width of the notch for the second torque notch filter instance.
The frequency range over which signal attenuation is more than 3 dB can be calculated as follows:
Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z
2
- .5z4
- z6
).Where,
z = Notch Filter Depth / Notch Filter Width
When Notch Depth is set to 0, z = 0.
Torque Notch Filter 2 Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Semantics |
The Torque Notch Filter Depth attribute sets the damping ratio, Zn, in the numerator of the torque notch filter equation that determines the depth of the notch for the second torque notch filter instance.
The notch filter depth at the center frequency can be calculated as follows:
Depth (dB) = 20log10 (z).
Where,
z = Notch Filter Depth / Notch Filter Width
When Torque Notch Depth is set to 0, z = 0
Torque Notch Filter 2 Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | | See Semantics |
The Torque Notch Filter Gain attribute sets the high frequency gain of the second torque notch filter instance. For notch filter operation, the value for this attribute is set to 1. A value greater than one results in a lead-lag filter function and a value less than one results in a lag-lead filter function. A value of 0 results in a low pass filter function.
Torque Notch Filter 3 Width
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.707 | 0 | | See Semantics |
The Torque Notch Filter 2 Width attribute sets the damping ratio, Zd, in the denominator of the torque notch filter equation that determines the width of the notch for the third torque notch filter instance.
The frequency range over which signal attenuation is more than 3 dB can be calculated as follows:
Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z
2
- .5z4
- z6
).Where,
z = Notch Filter Depth / Notch Filter Width
When Notch Depth is set to 0, z = 0.
Torque Notch Filter 3 Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Semantics |
The Torque Notch Filter Depth attribute sets the damping ratio, Zn, in the numerator of the torque notch filter equation that determines the depth of the notch for the third torque notch filter instance.
The notch filter depth at the center frequency can be calculated as follows:
Depth (dB) = 20log10 (z).
Where,
z = Notch Filter Depth / Notch Filter Width
When Torque Notch Depth is set to 0, z = 0
Torque Notch Filter 3 Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | | See Semantics |
The Torque Notch Filter Gain attribute sets the high frequency gain of the third torque notch filter instance. For notch filter operation, the value for this attribute is set to 1. A value greater than one results in a lead-lag filter function and a value less than one results in a lag-lead filter function. A value of 0 results in a low pass filter function.
Torque Notch Filter 4 Width
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.707 | 0 | | See Semantics |
The Torque Notch Filter 2 Width attribute sets the damping ratio, Zd, in the denominator of the torque notch filter equation that determines the width of the notch for the fourth torque notch filter instance.
The frequency range over which signal attenuation is more than 3 dB can be calculated as follows:
Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z
2
- .5z4
- z6
).Where,
z = Notch Filter Depth / Notch Filter Width
When Notch Depth is set to 0, z = 0.
Torque Notch Filter 4 Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Semantics |
The Torque Notch Filter Depth attribute sets the damping ratio, Zn, in the numerator of the torque notch filter equation that determines the depth of the notch for the fourth torque notch filter instance.
The notch filter depth at the center frequency can be calculated as follows:
Depth (dB) = 20log10 (z).
Where,
z = Notch Filter Depth / Notch Filter Width
When Torque Notch Depth is set to 0, z = 0
Torque Notch Filter 4 Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | | See Semantics |
The Torque Notch Filter Gain attribute sets the high frequency gain of the fourth torque notch filter instance. For notch filter operation, the value for this attribute is set to 1. A value greater than one results in a lead-lag filter function and a value less than one results in a lag-lead filter function. A value of 0 results in a low pass filter function.
Torque Limit - Positive
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - C | Set/SSV | REAL | 100 FD | 0 | 10 3 | % Motor Rated |
This positive value determines the maximum positive torque that can be applied to the motor. If the device attempts to exceed this value, the torque command is clamped to this value.
Torque Limit - Negative
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Required - C | Set/SSV | REAL | -100 FD | -10 3 | 0 | % Motor Rated |
This negative value determines the most negative torque value that can be applied to the motor. If the device attempts to apply a more negative torque than this limit, the torque command is clamped to this value.
Torque Rate Limit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 10 6 | 0 | | % Motor Rated / Sec |
Limits the rate of change of the torque reference signal.
Torque Threshold
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 90 FD | 0 | 10 3 | % Motor Rated |
Specifies the threshold for the Filtered Torque Reference signal magnitude that when exceeded, results in the Torque Threshold status bit being set.
Overtorque Limit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - D | Set/SSV | REAL | 200 | 0 | 10 3 | % Motor Rated |
Maximum limit for the torque producing Iq Current Feedback signal magnitude. When the Iq Current Feedback signal is greater than this value for the duration specified by the Overtorque Limit Time attribute, the result is an Overtorque Limit exception. This feature lets the device generate an exception if there is a sudden increase in load torque during operation. This condition could occur if a bearing fails, a hard stop is reached, or there is some other mechanical failure.
Overtorque Limit Time
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - D | Set/SSV | REAL | 0 | 0 | 10 3 | Seconds |
Specifies the amount of time allowed in an Overtorque Limit condition before generating an Overtorque Limit exception. A value of 0 for this attribute disables the monitoring and assertion of the Overtorque Limit exception
Undertorque Limit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - D | Set/SSV | REAL | 10 | 0 | 10 3 | % Motor Rated |
Minimum limit for the torque producing Iq Current Feedback signal magnitude. When the Iq Current Feedback is less than this value for the duration specified by the Undertorque Limit Time attribute, the result is an Undertorque Limit exception. This feature lets the device generate an exception if there is a sudden decrease in load torque during operation. This condition could occur, for example, if a load coupling breaks or a tensioned web material breaks.
Undertorque Limit Time
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - D | Set/SSV | REAL | 0 | 0 | 10 3 | Seconds |
Specifies the amount of time allowed in an Undertorque Limit condition before generating an Undertorque Limit exception. A value of 0 for this attribute disables monitoring and assertion of the Undertorque Limit exception.
Torque Estimate Crossover Speed
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.2*Eq 1 | 0 | | Velocity Units |
The Torque Estimate Crossover Speed attribute is the speed at which the Torque Estimator function transitions between two different estimation methods used to calculate the Torque Estimate attribute value.
Torque Estimate Notch 1 Frequency
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 100 | 0 | 10 4 | Filter Frequency Units |
The Torque Estimate Notch 1 Frequency attribute controls the center frequency of the first notch filter instance applied to the output of the Torque Estimator resulting in a filtered Torque Estimate signal. This object revision of the CIP Motion specification supports up to 2 torque estimate notch filter instances connected in series. A value of 0 for this attribute disables this filter instance.
Torque Estimate Notch 1 Width
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | | See Torque Notch Filter Semantics |
The Torque Estimate Notch 1 Width attribute sets the damping ratio, Zd, in the denominator of the notch filter equation that determines the width of the notch of the first torque estimate notch filter instance.
The frequency range over which signal attenuation is more than 3 dB can be calculated as follows:
Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z
2
- .5z4
- z6
). Where, z = Notch Filter Depth / Notch Filter Width
When Notch Filter Depth is set to 0, z = 0.
Torque Estimate Notch 1 Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Torque Notch Filter Semantics |
The Torque Estimate Notch 1 Depth attribute sets the damping ratio, Zn, in the numerator of the notch filter equation that determines the depth of the notch of the first torque estimate notch filter instance.
The notch filter depth at the center frequency can be calculated as follows:
Depth (dB) = 20log10 (z). Where, z = Notch Filter Depth / Notch Filter Width
When Notch Filter Depth is set to 0, z = 0.
Torque Estimate Notch 1 Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Torque Notch Filter Semantics |
The Torque Estimate Notch 1 Gain attribute sets the high frequency gain of the first torque estimate notch filter instance. For notch filter operation, the value for this attribute is set to 1. A value greater than one results in a lead-lag filter function and a value less than one results in a lag-lead filter function. A value of 0 results in a low pass filter function.
Torque Estimate Notch 2 Frequency
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | 10 4 | Filter Frequency Units |
The Torque Estimate Notch 2 Frequency attribute controls the center frequency of the second notch filter instance applied to the output of the Torque Estimator resulting in a filtered Torque Estimate signal. This object revision of the CIP Motion specification supports up to 2 torque estimate notch filter instances connected in series. A value of 0 for this attribute disables this filter instance.
Torque Estimate Notch 2 Width
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0.707 | 0 | | See Torque Notch Filter Semantics |
The Torque Estimate Notch 2 Width attribute sets the damping ratio, Zd, in the denominator of the notch filter equation that determines the width of the notch of the second torque estimate notch filter instance.
The frequency range over which signal attenuation is more than 3 dB can be calculated as follows:
Width (Hz) = 2 * Notch Filter Frequency * Notch Filter Width * (1 - z
2
- .5z4
- z6
). Where, z = Notch Filter Depth / Notch Filter Width
When Notch Filter Depth is set to 0, z = 0.
Torque Estimate Notch 2 Depth
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 0 | 0 | | See Torque Notch Filter Semantics |
The Torque Estimate Notch 2 Depth attribute sets the damping ratio, Zn, in the numerator of the notch filter equation that determines the depth of the notch of the second torque estimate notch filter instance.
The notch filter depth at the center frequency can be calculated as follows:
Depth (dB) = 20log10 (z). Where, z = Notch Filter Depth / Notch Filter Width
When Notch Filter Depth is set to 0, z = 0.
Torque Estimate Notch 2 Gain
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | 1 | 0 | | See Torque Notch Filter Semantics |
The Torque Estimate Notch 2 Gain attribute sets the high frequency gain of the second torque estimate notch filter instance. For notch filter operation, the value for this attribute is set to 1. A value greater than one results in a lead-lag filter function and a value less than one results in a lag-lead filter function. A value of 0 results in a low pass filter function.
Cogging Compensation Table
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | Struct { UINT, REAL [1024] } | - | - | - | Struct { Length, % Motor Rated [ ] } |
The Cogging Compensation Table is a list of values that represent the cogging torque profile of the motor over one electrical cycle. The 0th element of the array corresponds to an electrical angle of 0 degrees. An ideal motor with no cogging would have a value of 100% for all elements in the array. A value above 100% would provide additional 1/Kt gain to the torque reference, while a value below 100% would reduce the 1/Kt gain.
Torque Notch Low Pass Filter Bandwidth Min
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | Eq 18 | 1 | 10 4 | Filter Frequency Units |
The Torque Notch Low Pass Filter Bandwidth Min attribute sets the upper limit on the Torque Notch Filter Frequency Estimate value for the Adaptive Tuning function. The frequency of an identified natural resonance must be lower than this limit to be applied to the Torque Notch Filter Frequency Estimate.
Torque Notch Filter High Frequency Limit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | FD | 20 | 2*FD | Filter Frequency Units |
This value sets the upper limit on the Torque Notch Filter Frequency Estimate value for the Adaptive Tuning function. The frequency of an identified natural resonance must be lower than this limit to be applied to the Torque Notch Filter Frequency Estimate.
Torque Notch Filter Low Frequency Limit
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | REAL | FD | 20 | 2000 | Filter Frequency Units |
This value sets the lower limit on the Torque Notch Filter Frequency Estimate value for the Adaptive Tuning function. The frequency of an identified natural resonance must be higher than this limit to be applied to the Torque Notch Filter Frequency Estimate.
Torque Notch Filter Tuning Threshold
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Set/SSV | T | REAL | 5 | 0 | 100 | % Motor Rated |
To be identified as a resonance frequency by the Adaptive Tuning function, the resonance magnitude must exceed the Torque Notch Filter Tuning Threshold. The magnitude of an identified natural resonance frequency must be higher than this threshold value to be applied to the Torque Notch Filter Frequency Estimate.
Torque Notch Filter Frequency Estimate
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get | T | REAL | - | - | - | Radians/sec |
This value represents the resonance frequency of the resonance having the largest magnitude above the Torque Notch Filter Tuning Threshold. The value is within the Torque Notch Filter Low Frequency Limit and the Torque Notch Filter High Frequency Limit as identified during an Adaptive Tuning update.
Enabling the Tracking Notch Filter function triggers the value of the Notch Filter Frequency Estimate to apply to the first instance of the Torque Notch Filter.
Initiating a drive power cycle or reset triggers the value of the Torque Notch Filter Frequency Estimate to initialize to the last known value stored in nonvolatile memory.
When the Adaptive Tuning Configuration is changed to enable the Tracking Notch Filter function, this attribute is initialized to the controller configured Torque Notch Filter Frequency value.
Torque Notch Filter Magnitude Estimate
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get | T | REAL | - | - | - | % Motor Rated |
This value represents the maximum magnitude for the resonant associated with the Torque Notch Filter Frequency Estimate as identified by the Adaptive Tuning update.
After a drive power cycle or reset, the value of this attribute is initialized to the last known value stored in nonvolatile memory.
Torque Low Pass Filter Bandwidth Estimate
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get | T | REAL | - | - | - | Radians/sec |
This value represents the Bandwidth of the Torque Low Pass Filter when the Adaptive Tuning Configuration is equal to Gain Stabilization or Tracking Notch and Gain Stabilization. The Adaptive Tuning function modifies the value. The value is initialized to the Torque Low Pass Filter Bandwidth when the Adaptive Tuning Configuration transitions from Disabled or Tracking Notch to Gain Stabilization or Tracking Notch and Gain Stabilization. The Torque Low Pass Filter Bandwidth Estimate value is initialized to zero when the drive is power cycled or reset.
Adaptive Tuning Gain Scaling Factor
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - PV | Get/GSV | T | REAL | - | - | - | Applied Gain/Configured Gain |
When the selected Adaptive Tuning Configuration has enabled the Gain Stabilization function or Gain Optimization functions, this value proportionally scales the servo loop gain attributes of the associated axis as directed by the Adaptive Tuning function.
After a drive power cycle or reset, the value of this attribute is initialized to the last known value stored in nonvolatile memory.
When the Adaptive Tuning Configuration is charged to disable the Gain Stabilization function, this attribute is initialized to 1.
Adaptive Tuning Gain Status
Usage | Access | T | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|---|
Optional - C | Get/SSV | T | DWORD | - | - | - | Bitmap: 0: Torque Notch Filter Frequency Detected 1: Torque Notch Filter Tune Unsuccessful 2: Torque Notch Filter Multiple Frequencies 3: Torque Notch Filter Frequency Below Limit 4: Torque Notch Filter Frequency Above Limit 5: Adaptive Tune Gain Stabilization 6: Adaptive Tuning Gain Optimization Timer Expired 7-31: Reserved |
Bitmap containing adaptive tuning status bits.
The Torque Notch Filter Frequency Detected bit is set when resonances are identified between the low and high frequency limits with magnitudes above the tuning threshold. Otherwise, this bit is clear. This bit is also cleared when the drive transitions to the Running state.
The Torque Notch Filter Tune Unsuccessful bit is set when the tracking notch filters do not compensate all identified resonances. Otherwise, this bit is clear. This bit is also cleared when the drive transitions to the Running state or when adaptive tuning transitions from Disabled mode to one of the Tracking Notch modes while in the Running state.
The Torque Notch Filter Multiple Frequencies bit is set when multiple resonances are identified between the low and high frequency limits with magnitudes above the tuning threshold. Otherwise, this bit is clear. This bit is also cleared when the drive transitions to the Running state.
The Torque Notch Filter Frequency Below Limit bit is set when resonances are identified below the low frequency limit with magnitudes above the tuning threshold. Otherwise, this bit is clear. This bit is also cleared when the drive transitions to the Running state.
The Torque Notch Filter Frequency Above Limit (bit 4) is set when resonances are identified above the high frequency limit with magnitudes above the tuning threshold. Otherwise, this bit is clear. This bit is also cleared when the drive transitions to the Running state.
The Adaptive Tune Gain Stabilization bit is set when the gain scaling factor is not equal to one, which indicates that adaptive tuning is controlling the low pass filter and adjusting servo loop gains to stabilize the system. Otherwise, this bit is clear. This bit is also cleared when the drive transitions to the Running state.
The Adaptive Tuning Gain Optimization Timer Expired bit is set when gain optimization is disabled after the timer has expired. Otherwise, this bit is cleared. Once this bit is set, the Adaptive Tuning Configuration automatically switches from Gain Optimization to Gain Stabilization.
Provide Feedback