I have the T6 auxiliary inverter here and today I'm going to be demonstrating the KEB motor learn.
Hi, my name is Matt Sherman, and I'm an e-mobility sales and applications engineer here at KEB America.
The KEB motor learn is a tool for getting your inverter paired up with the motor, very quickly,
requiring only the motor nameplate data. You're going to need values like current voltage and
torque and we're going to be putting those values into the COMBIVIS software to learn the motor.
COMBIVIS has simple startup Wizards for pairing your inverter with your motor very quickly. It has
Wizards for inputting data into the motor, choosing your feedback mode, choosing your controller, and
also doing a motor learn. So in the startup Wizards, everything is laid out sequentially. So you'll see
first we have to choose our motor. So you have to choose between asynchronous motor or synchronous
motor, and the motor we're using right now is a synchronous motor. You can see right now the type
plate data isn't correct, so we take the data that we know and we enter that as we need it. So you can
see we're changing values like the current, the voltage, the torque has to go to 6.1, the speed is
rated at 3000 RPM, that one over minute is rpm. We change the frequency to 150 Hertz. We don't have
a specific Max current. We're going to set that to 5, because that's what the inverter can
handle here, and we're setting our Max torque to 7 newton meters. With all that done
we also have our temperature sensor, but we don't need that right now, so we're going to choose none.
Moving on, we then have our feedback mode. We can choose between open loop and encoderless.
The T6 does not need encoder feedback, so we're going to choose encoderless closed loop.
Then with the controller, we can set our motor inertia. With the gear that we have on this
motor right now we know that motor inertia is 11 kilogram centimeters squared. You can also adjust
the gain down here and the torque limits. But we don't need to change those right now.
You can also adjust your controller performance, but we don't need to adjust that either.
So then you have your protection and everything here should be set up correctly by default,
and from there we can actually go into the motor identification. So we're going to hit restart
identification and verify that we chose our data correctly. So we'll confirm that type plate data.
We can then choose the EMF detection and we do want to do that because that will allow
the motor to spin. Here you have the option to either select or deselect the EMF detection. If
you select it that'll let the motor run and it'll measure the EMF for the motor model. You do have
the option to deselect it and to actually add that data in later, but it's easiest to actually
let it run while you're doing the motor learn. And then we verify that our digital inputs are correct.
There are no digital inputs on the T6, so we don't need to do anything with that. And we verify that
our error State doesn't have a fault logged in it right now. And now we're getting ready
to start the motor identification. This process will take approximately two and a half minutes.
And get ready for a loud noise. Nothing is going to break. This is just the motor learn doing its job.
So there's a lot of noise you could hear. That's the motor identifying the
inductance. And now it's going through the stator resistance. These are all values that
are typically very difficult to find in the actual motor documentation. So this is
where it's very useful to be able to just put in the basic motor nameplate data, and
let the motor figure out the rest. You can see right now it's running its tests. And now it's
going into a dead time measurement. You can see, It'll show the current status up here.
And it'll show the old values down here, and how the motor is updating those here.
So it's doing this then so it can actually run an essentialist closed loop as we discussed that's a
version of motor control for the T6 that actually doesn't require any actual encoder feedback.
Instead it's using values like the motor voltage and the current, and then actually
combining those with a sophisticated motor model and running calculations to actually close that
Loop instead. So it's running in very accurate closed loop operation with no additional Hardware.
You can see up here we selected EMF detection. So this actually
does mean the motor is going to run during this process. That's why it's
important right now to make sure that it doesn't have any additional load.
It is okay to run it without the MF detection you
will get the information that you need. It just won't have the most accurate result.
And right now it's doing a rotor detection, and the motor is going to spin then to identify that EMF.
And the motor learn is almost complete.
You can see at any time we do have the option to abort the identification.
And now the motor alert is completed. We have the option then to either confirm the identified
values or discard them. The motor learn did complete successfully, so we are going to
confirm those values. Now that we've completed the motor learn, we'll do a test run. We'll put
the test run window and hit start. And we'll watch the motor run in sensorless control.
If you'd like to learn more about that, we have another video in the series that goes
into more detail. And if you run into any problems you can go into the help Tab and
click on KEB quick support to get help from a KEB engineer, to help you with your project.