Elmo HARSFEN0602, HARmonica software manual 183, Speed Protection

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

6
5						Application current demand
				motor current
				command
4
3
						Filter state
2
1						LC current limit
						Indication
0
0	1	2	3	4	5	6	7	8	9

183

14.2Speed Protection

The reference to the speed controller is limited to be in the range [VL[2]...VH[2]].

The limiting (applied on the sum of the software reference and the external reference) is made by the Stop-Manager.

In addition to the speed limiting, the Harmonica provides two forms of speed protections.

-Over error protection.

-Over speed protection.

The first protection detects a too big speed error.

The parameter ER[2] specifies the limit for the position error.

If the absolute value of the speed tracking error VE exceeds ER[2], The Harmonica issues the exception MF=0x80 and the power amplifier is shut down.

The second protection detects over speeding. If VX is greater than HL[3], or less than LL[3], The Harmonica issues the exception MF=0x200000 and the power amplifier is shut down.

The over-speed protection is active in all unit modes.

The speed for the over-speed detection is always derived from the main position sensor. This means that in UM=4, the motor speed is over-speed protected, not the load speed.

The speed command and feedback limits are illustrated in the figure below. The amplifier normally operates in the area marked "Within command and feedback limits". It may, however, visit instantaneously the areas marked "Overshoot area" due to overshoot, and this is Ok. If the speed feedback reaches the "Abort area", that amplifier will issue an over-speed exception and automatically shutdown.