BM_FindNotchPosInjection

Description

The function "BM_FindNotchPosInjection" carries out a notch position search (parameter 127.008.00) by the injection processing; it is not required that the axis is freely movable in order to carry out this measurement; after measuring successfully the redetermined notch position is displayed.

The redetermined value already is valid in the RAM controller. A takeover into the controller flash can be made with the BM_DataSetHandling.

Further information referring to the notch position search is to be found in the "Parameter manual of the basic unit bmaXX 5000" chapter 3.9.8.

Parameter input	Data type	Description
Execute	BOOL	Edge-sensitive execution
InjectionFreq1	REAL	Injection frequency 1 [1/s]
InjectionAmp1	REAL	Injection amplitude 1 [V]
BandpassBandwidth	REAL	Bandpass bandwidth [1/s]
InjectionFreq2	REAL	Injection frequency 2 [1/s]
InjectionApmp2	REAL	Injection amplitude 1 [V]
SecondHarmonicMinRate	REAL	Minimum rate second harmonic [%]
InjectionKP	REAL	Injection Kp [1/s]

Parameter output	Data type	Description
Done	BOOL	Notch position search successful
Moving	BOOL	Notch position search is running.
Busy	BOOL	Parameter Read/write active.
CommandAborted	BOOL	Abort by another motion control command, BM_Stop or error stop
Error	BOOL	Parameter Read/write error; Error ID is valid
ErrorID	DWORD	Communication error ID Siemens error list

Parameter

Input and output

Data type

Description

Axis

UDT

BM Motion Control Axis Variable

Description

Before activating the command "BM_FindNotchPosRAFS" BM_Power must be switched off and the axis must not be freely movable.

The command "Execute = 1" switches on the Axis notch position search. By an edge-sensitive execution all of the input values are taken over and the command is started at the axis. A new command switching requires a change from FALSE to TRUE at the input "Execute" whereby this change can be carried out at the executing time of the command.

Movement command:

The edge-sensitive execution in switched-off BM_Power state. The execution of abort is aborted with BM_Stop, missing operational readiness or Errorstop. In the result message, only one of the output bits Done, Busy, CommandAborted is active

Edge-sensitive execution:

Diagram of an edge-sensitive execution:

Diagram 1:

State control by BM_ReadStatus:
Off state: Standstill.
After state: -

Recommended task: OB1.

Note:

"BM_Power" and other function block must be switched off and the axis must be freely movable.

A command from "BM_FindNotchPosInjection” must not be activated before a command from another function block has been not successfully executed.

If an error occurs during the command execution, the error must be reset with “BM_Reset”. Function block command will be executed successfully at "BM" .AXIS [x] .DRIVE.BM_AXIS_STATUS.ParmRW_Active = 0.

Input Execute:

TRUE: Edge-sensitive execution, the input parameters are taken over and the notch position search is activated.

FALSE: No execution or resetting of the FC outputs of Error & Error ID.

Input InjectionFreq1:

The parameter InjectionFreq1 can set the frequency of the HF voltage injected in the motor in step 1, unit 1/s.

Minimum: 0.0 [1/s], if 0.0<InjectionFreq1<=0.1

Maximum: 4000.0 [1/s]

Default: 1000.0 [1/s], if InjectionFreq1=0.0

Input InjectionAmp1:

The parameter InjectionAmp1 can set the amplitude of the FH voltage injected in the motor in step 1, unit V.

Minimum: 1.0 [V], maximum: 400.0 [V]

Default: 100.0 [V], if InjectionAmp1 =0.0

Input BandpassBandwidth:

The parameter BandpassBandwidth can set the bandwidth of the filter, which are used to deactivate the HF shares of motor currents Id, Iq.

Minimum: 1.0 [1/s], maximum: 500.0 [1/s]

Default: 50.0 [1/s], if BandpassBandwidth =0.0

Input InjectionFreq2:

With the parameter InjectionFreq2 the frequency of the voltage is set, which is injected during the pole position determination in step 2 in the motor, to cause 180° of ambivalence ; this frequency exclusively takes over the following values to: 62.5 Hz; 125Hz; 250Hz; 500Hz.

Minimum: 0.0 [1/s], if 0.0<Parameter InjectionFreq2<=0.1

Maximum: 1000.0 [1/s]

Default: 250.0 [1/s], if parameter InjectionFreq2=0.0

Input InjectionAmp2:

The parameter InjectionAmp2 can set the amplitude of the HF voltage injected in the motor in step 2.

Minimum: 1.0 [V], maximum: 400.0 [V]

Default: 280.0 [V], if parameter InjectionAmp2=0.0

Input SecondHarmonicMinRate:

The minimum permitted percentage share of the second harmonic I² of the injected HF current with regard to the fundamental current I₁ in the second step

Minimum: 0.0 [%], if parameter 0.0 <SecondHarmonicMinRate =0.1

maximum: 100.0 [%]

Default: 5.0 [%], if Parameter SecondHarmonicMinRate =0.0

Input InjectionKP:

The parameter InjectionKP sets the proportional gain Kp and the integral time Tn of the associated PI compensating controller to the injection process.

Minimum: -1.00000e+10, maximum: +1.00000e+10

Default: 80.0, if parameter InjectionKP =0.0

Output Done:

TRUE: Notch position search is executed. Drive state changes from Enable operation to

Ready-to-switch-on.

FALSE: Not activated.

Output Moving:

TRUE: Notch position search is running.

FALSE: not activated.

Output Busy:

TRUE: The service communication of the parameter Read/write active.

FALSE: Not activated.

Output CommandAborted:

TRUE: Abort due to another motion control command, BM_Stop command, error stop or a missing operating availability to BM_Power.

FALSE: Not activated.

Output Error:

TRUE: An error at the service communication of the parameter Read/write is available. Information to error ID is valid and error information, refer to S7 in the manual.

FALSE: No error activated.

Output ErrorID:

The information of service communication error (detailed information refer to S7 in the manual)

Input and output Axis:

Symbolic BM Motion Control axis variable of an UDT type.

While programming the data module template DDB5 (symbolic "BM") it is to be written with the following symbol text: "BM".AXIS[x] (x is drive axis number).