154 Program features
Inertia compensation
Inertia compensation function eliminates speed overshoot or undershoot by
compensating for inertia effects. The function can be enabled when 28.12 MOMENT
OF INERT is non-zero. A value can be obtained for inertia compensation with
parameter 28.11 INERTIA AUTOTUNE, with the following two methods:
METHOD 1 – calculates the inertia compensation torque (03.09 ACC COMP TORQ)
required during acceleration and deceleration based on the elevator system
mechanics (total mass, sheave diameter, roping and gear ratio).
METHOD 2 – measures the system moment of inertia (parameter 28.12 MOMENT
OF INERT) when the user triggers the Inertia autotune procedure with parameter
28.11 INERTIA AUTOTUNE. After the function is triggered, the elevator must be
operated once upward and once downward direction to obtain the value. Between the
two operations there should be a Stop state.
Note: The function only makes observation and does not alter the elevator operation.
For this to happen, the drive needs uniform acceleration from Stopped state in both
directions for at least 200 ms.
Until both upward and downward operations are completed, the drive displays an
alarm, 2089 INERTIA AUTOTUNE. If the operation is not successful, moment of
inertia is written as zero with parameter 28.12 MOMENT OF INERT.
Note: Changes to parameter 28.12 are not effective when this mode is active.
The parameter 03.09 ACC COMP TORQ shows the calculated or measured value for
the moment of inertia. You can change the value if further fine tuning is required.
Settings
Diagnostics
Parameters Additional information
28.08 CAR WEIGHT Defines car weight.
28.09 ROPE WEIGHT Defines rope weight.
28.10 COUNTER WEIGHT Defines counter weight.
28.11 INERTIA AUTOTUNE Enables auto tuning for Inertia compensation.
28.12 MOMENT OF INERT Defines the moment of inertia for lift system or lift load calculated
during start-up.
Signals Additional information
Actual signals
03.09 ACC COMP TORQ Displays the inertia compensation torque calculated by the Inertia
compensation function.
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