BENTLY 133300-01監測器卡件
40 MHz嵌入式控制器和40 MHz DSP控制器是SERVOSTAR CDLite的核心。他們使用其內部操作系統來(lái)監控輸入、調整輸出、串行通信，維護伺服控制并監控故障?？刂坪诵奶幚砥鞯拈W存固件
并給出了SERVOSTAR CD-Lite，其工作特性保存在EPROM中。版本可以使用VER命令讀取固件的數量。
在致電Danaher Motion客戶(hù)支持時(shí)，請確保隨時(shí)提供固件版本號
可獲得的最新版本的固件可供購買(mǎi)，并且易于現場(chǎng)升級通過(guò)PC?？赏ㄟ^(guò)聯(lián)系Danaher Motion銷(xiāo)售代表或聯(lián)系Danaher Motion客戶(hù)支持。伺服回路描述
SERVOSTAR CD Lite通過(guò)控制多達三種不同的電機提供高性能電機控制
DSP內的閉環(huán)系統：電流、換向、速度。
電流回路
由于電流和轉矩在永磁（PM）電機中成比例，電流回路通常稱(chēng)為扭矩環(huán)。電流回路的功能是按照指示調節電機電流
電流指令信號。來(lái)自微處理器的電流指令信號可以來(lái)自直接用戶(hù)輸入（OPMODE 3）或速度回路的輸出。實(shí)際上有三種電流
回路，每個(gè)電機相一個(gè)。每個(gè)電流回路從換向回路。
SERVOSTAR CD-Lite采用全數字極位置電流回路，具有高帶寬和電流環(huán)路采樣率為16 kHz（62.5μs）。電流回路的所有系數均為數字
對于給定的一組電機和驅動(dòng)特性，在驅動(dòng)器內部計算。電流回路也包括自適應增益項以補償一些非線(xiàn)性效應。電流回路包含電氣隔離，用于保護高壓母線(xiàn)。這些電流回路還將輸出電壓轉換為脈寬調制（PWM）信號，提供
盡可能提高效率。根據驅動(dòng)大小，PWM中心頻率可以是8或16kHz。
換向回路
該回路將單相電流指令信號轉換為三相位置調制正弦信號
電流回路的波輸入。SERVOSTAR CD-Lite具有專(zhuān)利的正弦波形式發(fā)電機使用一種稱(chēng)為扭矩角提前的技術(shù)，以使其電機達到最佳性能。波形發(fā)生器是微處理器的一部分，以16kHz的速率更新。這在低速和高速下都提供了高保真正弦波換向。正弦波輸出必須與電機的反電動(dòng)勢特性。這就是為什么旋轉變壓器或編碼器與電機對齊
Servo Loop Description The SERVOSTAR CD-Lite provides high-performance motor control by controlling up to three distinct closed loop systems within the DSP: the current, commutation, velocity. Current Loop Since current and torque are proportional in a Permanent Magnet (PM) motor, the current loop is often referred to as the torque loop. The function of the current loop is to regulate motor current as directed by a current command signal. The current command signal from the microprocessor can either come from a direct user input (OPMODE 3) or from the output of the velocity loop. There are actually three current loops, one for each motor phase. Each current loop receives its own command input from the commutation loop. The SERVOSTAR CD-Lite uses a fully digital, pole placement current loop with high bandwidth and a current loop sampling rate of 16 kHz (62.5 μs). All coefficients of the current loop are digitally calculated inside the drive for a given set of motor and drive characteristics. The current loop also includes adaptive gain terms to compensate for some non-linear effects. The current loop incorporates electrical isolation for protection from the high-voltage BUS. These current loops also convert the output voltage to a Pulse Width Modulated (PWM) signal providing the highest efficiency possible. The PWM center frequency can be 8 or 16 kHz according to the drive size. Commutation Loop This loop converts a single-phase current command signal into a three-phase, position-modulated sine wave input to the current loops. The SERVOSTAR CD-Lite has a patented sinusoidal wave form generator that uses a technique called Torque Angle Advance to get top performance out of its motors. The waveform generator is part of the microprocessor and is updated at a 16 kHz rate. This provides hifidelity sinewave commutation at both low and high velocities. The sinewave output must be aligned to the back EMF characteristics of the motor. This is why resolver or encoder alignment to the motor is critical.
