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......SPEED LOOP
........SPD. PROP. GAIN [161] = 10.00
........SPD. INT. TIME [162] = 100 mSECS
f.......INT. DEFEAT [163] = FALSE
........ENCODER SIGN [164] = NEG
f.......ADVANCED
f.........SPEED FBK FILTER [673] = 0.500
f.........SPEED DMD FILTER [662] = 0.750
f.........ADAPTIVE THRESH [674] = 0.50 %
f.........ADAPTIVE P-GAIN [675] = 10.00
f.........PWR LOSS CNTRL
f...........ENABLE [639] = FALSE
f...........TRIP THRESHOLD [640] = 0 VOLTS
f...........CONTROL BAND [657] = 20 VOLTS
f...........DECEL RATE [641] = 2.50 %
f...........ACCEL RATE [644] = 0.50 %
f...........TIME LIMIT [643] = 30.000 SECS
f...........PWR LOSS ACTIVE [766] = FALSE
........SPEED SETPOINTS
..........DIRECT SPT1 [171] = 0.00 %
..........DIRECT RATIO [172] = 0.1000
..........DIRECT SPT. MAX [173] = 100.00 %
..........DIRECT SPT. MIN [174] = -100.00 %
..........DIRECT ENABLE [175] = FALSE
..........MAIN SPD.SPT. [176] = 0.00 % <- [346]
..........MAX SPEED [177] = 100.00 %
..........MIN SPEED [178] = -100.00 %
h.........SEQ RUN INPUT [49] = 0.00 %
h.........SEQ OUTPUT [50] = 0.00 %
f.......ZERO SPEED
..........ZERO SPD HYST [132] = 0.10 %
..........ZERO SPEED LEVEL [252] = 0.50 %
..........AT ZERO SPEED [17] = TRUE
..........AT ZERO SETPOINT [18] = TRUE
..........AT STANDSTILL [19] = TRUE
f.......TEST MODE
f.........ENABLE [647] = FALSE
f.........SPEED SETPOINT 1 [648] = 5.00 %
f.........SPEED SETPOINT 2 [649] = 10.00 %
f.........PERIOD [650] = 1000 mSECS
........TOTAL SPD.DMD. [6] = 0.00 %
h.......SPEED FB UNFIL [7] = 0.00 %
........SPEED FEEDBACK [11] = 0.00 %
........SPEED ERROR [8] = 0.00 %
........ENCODER [51] = 0 RPM
........SPEED SETPOINT [48] = 0.00 %
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SPD PROP GAIN
Speed loop PI proportional gain adjustment. A gain value of 1.00 is unity.
SPD INT.TIME.
Speed loop PI integral gain adjustment.
INT. DEFEAT
Turn speed loop in to a P only controller.
The PI is designed as a saturating loop, i.e. it is normal for the output to reach saturation. In order to prevent
integral wind up during saturation the integral term is held constant while the output is saturated.
Saturation is deemed to be when the output is
≥
to the prevailing torque limit.
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