User Manual

Rockwell Automation Publication 20P-UM001K-EN-P - July 2014 319
Application Notes Appendix C
Configuring the Adaptive Speed Regulator
• Set Par 181 [Adaptive Spd En] = “1 Enabled”
• If the gain must be changed on the basis of units other than the drive’s
speed reference, set Par 182 [Adaptive Reg Typ] = 1 “Adaptive Ref ”. The
adaptive reference is provided to the drive as an analog value via an analog
input. For this reason Par 183 [Adaptive Ref ] must be assigned to an
analog input. The other possibility is to enter the value of Par 183
[Adaptive Ref ] via the HIM. In this case the an analog input is not
necessary.
• Enter the appropriate values in Par 184 [Adaptive Spd 1] and Par 185
[Adaptive Spd 2] to define the three speed ranges. Values are expressed as a
percentage of Par 45 [Max Ref Speed] and the maximum value of Par 183
[Adaptive Ref ].
• When Par 182 [Adaptive Reg Typ] = 0 “Speed”, tuning is completed via
Fine Tuning the Regulators on page 331
. In this case the following points
must be taken into consideration:
❏ The value entered in Par 61 [TstGen Offset] must be at the low end of
the speed range to be tuned, but is also outside the range set in Par
[Adaptive Joint x].
❏ Enter the step value in Par 60 [TstGen Amplitude], so that the speed
remains inside the range to be tuned.
❏ The optimization is carried out separately for each range and the
parameters of the regulator are set for each range with Pars [Adaptive P
Gainx] and [Adaptive I Gainx].
❏ After the optimization of the different phases review the entire speed
range. By changing the value of [Adaptive Joint x] it is possible to reduce
the instabilities present in the transients during the changes from one
range to the other. Increasing the values transients are slighter.
• When Par 182 [Adaptive Reg Typ] = 1 “Adaptive Ref ”, tuning is
application specific.
• When the speed zero logic (see page 322
) is disabled (factory default
setting) and the drive is disabled, the gains of the speed regulator are
active. These are set via Pars 188 [Adaptive P Gain1] and 189 [Adaptive I
Gain1]. When the speed zero logic is enabled, the values set when the
motor is stopped are valid.