This function block is used to perform the following actions:
•Starting a setup procedure for ISQ ripple compensation
•Saving collected parameters in an ACOPOS parameter table
•Aborting a setup procedure in progress
No other function blocks should be enabled for this axis while this function block is enabled. Doing so may have a negative effect on the results.
This function block only determines the data needed for ISQ ripple compensation. For information about how compensation is performed, see ACP10 drive functions / compensation.
Requirements for use
•Function block name for SG3/SGC target systems
•If this function block is used with an ACP10SIM axis, simulation mode "Complete" must be set.
PLCopen axis states in which the function block is permitted to be enabled
"Command" |
PLCopen axis states in which the function block is permitted to be enabled |
All PLCopen axis states, no effect on the PLCopen axis state |
|
All PLCopen axis states, no effect on the PLCopen axis state |
Function block
Parameter
I/O |
Parameter |
Data type |
Description |
IN |
UDINT |
Axis reference |
|
IN |
BOOL |
Execution of the function block begins on a rising edge of this input. |
|
IN |
Command |
UINT |
Selects the command |
IN |
Configuration |
MC_SETUP_ISQ_RIPPLE_CFG_REF |
Input parameters required for operation |
OUT |
Done |
BOOL |
Command executed |
OUT |
Busy |
BOOL |
The function block is active and must continue to be called. |
OUT |
CommandAborted |
BOOL |
Function block aborted by another function block |
OUT |
Error |
BOOL |
Error during execution |
OUT |
ErrorID |
UINT |
|
OUT |
SetupOutput |
MC_SETUP_OUTPUT_REF |
Output structure |
Table: Parameter MC_BR_SetupIsqRipple
MC_SETUP_ISQ_RIPPLE_CFG_REF data type
Parameter |
Data type |
Description |
DatObj |
MC_DATOBJ_REF |
Parameter for storing the setup data |
SetupIsqRipplePar |
MC_SETUP_ISQ_RIPPLE_PAR_REF |
Parameter for the setup configuration |
MC_DATOBJ_REF data type
Parameter |
Data type |
Description |
Name |
STRING[32] |
Name of the data object Note: BR data object names are limited to eight characters. |
Type |
UINT |
mcDATOBJ ... A BR data object is created. |
Format |
UINT |
Must be set to 0 |
Device |
STRING[32] |
Not used with this function block |
MC_SETUP_ISQ_RIPPLE_PAR_REF data type
Parameter |
Data type |
Description |
Mode |
UINT |
Mode for setting up ISQ ripple compensation |
RefSystem |
UINT |
Reference system mcENCODER (encoder-oriented) mcFLUX (flux-oriented) |
PositionOffset |
REAL |
Mechanical position offset [rad] Note: If this input is not set, then the default value (0) is used for the setup. Valid range of values: 0...2π |
Velocity |
REAL |
Speed for parameter identification [axis units / sec] Note: Valid range of values: (0.0001 … 0.2) * SCALE_LOAD_UNITS |
MC_SETUP_OUTPUT_REF data type
Parameter |
Data type |
Description |
Quality |
REAL |
Quality of the parameter identification [%] 0 – 50% … Unusable 50 – 70% … Usable 70 – 90% … Good 90 – 100% … Very good |
DataObjectIdent |
UDINT |
ID of the stored data object |
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