Editing Configuring cogging torque compensation
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− | + | [https://en.wikipedia.org/wiki/Cogging_torque Cogging torque] compensation feature in drive that aims to make motor torque production more uniform and ideal. | |
''"Cogging torque of electrical motors is the torque due to the interaction between the permanent magnets of the rotor and the stator slots of a Permanent Magnet (PM) machine. It is also known as detent or ‘no-current’ torque. This torque is position dependent and its periodicity per revolution depends on the number of magnetic poles and the number of teeth on the stator.”'' | ''"Cogging torque of electrical motors is the torque due to the interaction between the permanent magnets of the rotor and the stator slots of a Permanent Magnet (PM) machine. It is also known as detent or ‘no-current’ torque. This torque is position dependent and its periodicity per revolution depends on the number of magnetic poles and the number of teeth on the stator.”'' | ||
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This can be compensated by modulating motor current to counter the motor cogging. In some Granite Devices drives ([[IONI]] Pro family on the time of writing) there are options to adjust compensation current by few parameters. | This can be compensated by modulating motor current to counter the motor cogging. In some Granite Devices drives ([[IONI]] Pro family on the time of writing) there are options to adjust compensation current by few parameters. | ||
+ | {{picturebox|torqueCompensation.png|596px|caption=Cogging torque compensation parameters in Granity}} | ||
==Configuration== | ==Configuration== | ||
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===Parameters=== | ===Parameters=== | ||
Static no-current cogging compensation is done by summing a fixed amplitude waveform on the torque [[setpoint]]. The default waveforms are sinusoidal where phase angle of sine is driven by motor angle. | Static no-current cogging compensation is done by summing a fixed amplitude waveform on the torque [[setpoint]]. The default waveforms are sinusoidal where phase angle of sine is driven by motor angle. | ||
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Perform the above procedure first for cogging torque, and then for ripple if necessary. However, in the ripple settings (TRF2 and TRA2), the test & comparison should be conducted when torque setpoint is set to a constant non-zero value (i.e. using {{param|TSP1}} and Set Abs button. In this case, motor should be held still and rotated by hand to determine the lowest ripple settings. | Perform the above procedure first for cogging torque, and then for ripple if necessary. However, in the ripple settings (TRF2 and TRA2), the test & comparison should be conducted when torque setpoint is set to a constant non-zero value (i.e. using {{param|TSP1}} and Set Abs button. In this case, motor should be held still and rotated by hand to determine the lowest ripple settings. | ||
{{machine|Beware of handling motor when torque setpoint is given. Always start with very low setpoint values to avoid injury or damage. Always keep emergency stopping method rapidly accessible.}} | {{machine|Beware of handling motor when torque setpoint is given. Always start with very low setpoint values to avoid injury or damage. Always keep emergency stopping method rapidly accessible.}} | ||
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