48 Program features
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.
Warning indications
A warning message AF90, will be generated if the autotune routine does not
complete successfully. See chapter Fault tracing (page 409) for further information.
Settings and diagnostics
Parameters groups: 25 Speed control (page 230), 30 Limits (page 251) and 99 Motor
data (page 365).
Parameters: 25.02 Speed proportional gain (page 230), 25.03 Speed integration time
(page 231), 25.33 Speed controller autotune...25.40 Autotune repeat times (page
235), 30.12 Maximum speed (page 253) and 99.09 Motor nominal speed (page 366).
Events: AF90 Speed controller autotuning (page 422).
Derivative
Proportional,
integral
Derivative
acceleration
compensation
Torq ue
reference
Speed
reference
Actual speed
Error
value
-
+
+
+
+
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