User Manual

34 Rockwell Automation Publication 20B-UM002G-EN-P - July 2014
Chapter 1 Programming and Parameters
SPEED COMMAND
Slip Comp
Important: Parameters in the Slip Comp Group are used to enable and tune the Slip
Compensation Regulator. In order to allow the regulator to control drive operation, parameter
080 [Speed Mode] must be set to 1 “Slip Comp”.
121 [Slip RPM @ FLA]
Sets the amount of compensation to drive output
at motor FLA. Slip RPM @ FLA = Synchronous
Speed - Motor Nameplate RPM
If the value of parameter 061 [Autotune] = 3
“Calculate” changes made to this parameter will
not be accepted.
Value can be changed by [Autotune] when
“Encoder” is selected in [Feedback Select],
parameter 080.
Default:
Min/Max:
Units:
Based on [Motor NP RPM]
0.0/1200.0 RPM
0.1 RPM
061
080
122
123
122 [Slip Comp Gain]
Sets the response time of slip compensation.
Default:
Min/Max:
Units:
40.0
1.0/100.0
0.1
080
121
122
123 [Slip RPM Meter]
Displays the present amount of adjustment
being applied as slip compensation.
Default:
Min/Max:
Units:
Read Only
–/+300.0 RPM
0.1 RPM
080
121
122
Process PI
124 [PI Configuration]
Sets configuration of the PI regulator.
Option Description
AdjVoltTrim (10) Configures the PI regulator output to trim the voltage reference, rather than
the torque or speed references. The trim can be configured to be exclusive by
setting “Excl Mode” (bit 0). Trimming the voltage reference is not compatible
with trimming the torque reference, thus if bits 8 & 10 are set, a type II alarm
will occur, setting “PI Cfg Cflct” (bit 19) in [Drive Alarm 2].
124
…
138
125 [PI Control]
Controls the PI regulator.
080
File Group No.
Parameter Name & Description
See page 16 for symbol descriptions
Values
Related
00000000000xxxxx
10 01234567891112131415
1 = Enabled
0 = Disabled
x = Reserved
Bit #
Factory Default Bit Values
Excl Mode
Invert Error
Preload Mode
Ramp Ref
Zero Clamp
Feedbak Sqrt
Stop Mode
Anti-Wind Up
Torque Trim
% of Ref
AdjVoltTrim
00x 0xxxxxxxxxxxx
10 01234567891112131415
1 = Enabled
0 = Disabled
x = Reserved
Bit #
Factory Default Bit Values
PI Enable
PI Hold
PI Reset