Owner's manual

3-20 Programming and Parameters
79 Spd Fdbk TP Data
Displays the value selected in Par 77 [Spd Fdbk TP Sel]. This display should only be used if
the selected value is integer data.
Default:
Min/Max:
0
-/+32768
16-bit
Integer
80 Speed Reg Ctrl
Enter or write a value to configure the speed regulator integrator. Refer to Appendix B, Speed Control, on page B-4.
81 Spd Reg P Gain
Sets the proportional gain of the speed regulator. It's value is automatically calculated based
on the bandwidth setting in Par 90 [Spd Reg BW]. Proportional gain may be manually
adjusted by setting Par 90 to a value of zero. Units are (per unit torque) / (per unit speed).
Adjustments to Par 474 [Freq Reg We BW] and Par 475 [Freq Reg Wr BW] may be
necessary when using sensorless feedback.
Default:
Min/Max:
20.0000
0.0000/600.0000
✓✓Real
82 Spd Reg I Gain
Sets the integral gain of the speed regulator. It's value is automatically calculated based on
the bandwidth setting in Par 90 [Spd Reg BW]. Integral gain may be manually adjusted by
setting Par 90 to a value of zero. Units are (per unit torque/sec) / (per unit speed).
Adjustments to Par 474 [Freq Reg We BW] and 4Par 75 [Freq Reg Wr BW] may be
necessary when using sensorless feedback.
Units:
Default:
Min/Max:
/Sec
50.0000
0.0000/100000.0000
✓✓Real
84 SpdReg AntiBckup
By setting this parameter to 0.3 the drive will not over-shoot to a step response. This
parameter has no affect on the drive's response to load changes. Recommended setting is
0.1000 to 0.5000.
Default:
Min/Max:
0.0000
0.0000/0.5000
✓✓Real
85 Servo Lock Gain
Sets the gain of an additional integrator in the speed regulator. The effect of Servo Lock is to
increase stiffness of the speed response to a load disturbance. It behaves like a position
regulator with velocity feed forward, but without the pulse accuracy of a true position
regulator. The units of Servo Lock are rad/sec. Gain should normally be set to less than 1/3
speed regulator bandwidth, or for the desired response. Set to zero to disable Servo Lock.
Units:
Default:
Min/Max:
/Sec
0.0000
0.0000/300.0000
✓✓Real
86 Spd Reg Droop
Specifies the amount of base speed that the speed reference is reduced when at full load
torque. Use the droop function to cause the motor speed to decrease with an increase in
load. The units are per unit speed / per unit torque.
Units:
Default:
Min/Max:
P. U .
0.0000
0.0000/0.2500
✓✓Real
87 SReg Torq Preset
When the drive is not enabled, this parameter presets integrator output Par 101 [SpdReg
Integ Out] to specified a torque level. This ensures that the torque command will be at the
preset value when the drive is enabled and run. Par 80 [Speed Reg Ctrl] bit 1 [Preset Sel] =
0 enables this preset.
Units:
Default:
Min/Max:
P. U .
0.0000
-/+8.0000
✓✓Real
89 Spd Err Filt BW
Sets the bandwidth of a 2nd order Butterworth low pass filter, which reduces quantization
noise. The units are rad/sec. A value of 0 will disable the filter. The value should be greater
than 5 times the value of Par 90 [Spd Reg BW].
Units:
Default:
Min/Max:
R/S
200.0000
0.0000/2000.0000
✓✓Real
No.
Name
Description Values
Linkable Read-Write Data Type
Options
Reserved Preset Sel Integ Hold Integ Reset Reserved Reserved Reserved Reserved
Default 0 0 0 0 0 0 0 0
Bit 0 1 234567
0 = False
1 = True
Under-Shoot
Over-Shoot
Over-Shoot
Under-Shoot
Error
Reference
Feedback, SpdReg AntiBckup = 0.0
Feedback, SpdReg AntiBckup = 0.3
Error