User Manual

Rockwell Automation Publication 20B-UM002G-EN-P - July 2014 37
Programming and Parameters Chapter 1
SPEED COMMAND
Speed Regulator
445 [Ki Speed Loop]
Controls the integral error gain of the speed
regulator. The drive automatically adjusts [Ki
Speed Loop] when a non-zero value is entered for
[Speed Desired BW] or an autotune is performed.
Typically, manual adjustment of this parameter is
needed only if system inertia cannot be
determined through an autotune. [Speed Desired
BW] is set to “0” when a manual adjustment is
made to this parameter.
Default:
Min/Max:
Units:
7.0
0.0/4000.0
0.1
053
446 [Kp Speed Loop]
Controls the proportional error gain of the speed
regulator. The drive automatically adjusts [Kp
Speed Loop] when a non-zero value is entered for
[Speed Desired BW] or an auto-tune is
performed. Typically, manual adjustment of this
parameter is needed only if system inertia
cannot be determined through an autotune.
[Speed Desired BW] is set to “0” when a manual
adjustment is made to this parameter.
An internal Error Filter BW is active when Kp or
[Speed Desired BW] is changed. It is set to Kp
times [Total Inertia] with a minimum of 25
radians.
Default:
Min/Max:
Units:
6.3
0.0/200.0
0.1
053
447 [Kf Speed Loop]
Controls the feed forward gain of the speed
regulator. Setting the Kf gain greater than zero
reduces speed feedback overshoot in response to
a step change in speed reference.
Default:
Min/Max:
Units:
0.0
0.0/0.5
0.1
053
448 [Spd Err Filt BW]
Sets the bandwidth of a speed error filter used in
FVC Vector mode. A setting of “0.0” disables the
filter.
Default:
Min/Max:
Units:
200.0 R/s
0.0/2000.0 R/s
0.1 R/s
053
449 [Speed Desired BW]
Sets the speed loop bandwidth and determines
the dynamic behavior of the speed loop. As
bandwidth increases, the speed loop becomes
more responsive and can track a faster changing
speed reference.
Adjusting this parameter will cause the drive to
calculate and change [Ki Speed Loop] and [Kp
Speed Loop] gains.
Default:
Min/Max:
Units:
0.0 Radians/Sec
0.0/250.0 Radians/Sec
0.1 Radians/Sec
053
450 [Total Inertia]
Represents the time in seconds, for a motor
coupled to a load to accelerate from zero to base
speed, at rated motor torque. The drive calculates
Total Inertia during the autotune inertia
procedure.
Adjusting this parameter will cause the drive to
calculate and change [Ki Speed Loop] and [Kp
Speed Loop] gains.
Default:
Min/Max:
Units:
0.10 Secs
0.01/600.00
0.01 Secs
053
451 [Speed Loop Meter]
Value of the speed regulator output.
(1)
“%” if [Motor Cntl Sel] = “FVC Vector.”
Default:
Min/Max:
Units:
Read Only
–/+800.0%
(1)
–/+800.0 Hz
–/+800.0 RPM
0.1%/Hz/RPM
053
121
079
File Group No.
Parameter Name & Description
See page 16 for symbol descriptions
Values
Related
FV
FV
FV
FV
v6
FV
FV
FV