Actual signals and parameters
88
23.11 P-GAIN MIN The proportional gain setting when the speed controller output is zero.
Note: Visible only after entering proper code in 16.03 PASS CODE.
0…100 Setting range. 1 = 1
23.12 P-GAIN WEAKPOINT The output level of the speed controller where the gain is set to
23.01 GAIN.
Note: Visible only after entering proper code in 16.03 PASS CODE.
0…Max Torque% Setting range. 1 = 1%
23.13 P-GAIN WP FILT This can soften the rate of change for the proportional gain.
Note: Visible only after entering proper code in 16.03 PASS CODE.
0…99999 ms Filter time constant. 1 = 1 ms
23.14 DROOP RATE Defines the droop rate. The parameter value needs to be changed
only if both the Master and the Follower are speed-controlled.
The droop rate needs to be set both for the Master and the Follower.
The correct droop rate for a process must be found out case by case
in practice.
The drooping prevents a conflict between the Master and the Follower
by allowing a slight speed difference between them. The drooping
slightly decreases the drive speed as the drive load increases. The
actual speed decrease at a certain operating point depends on the
droop rate setting and the drive load ( = torque reference / speed
controller output). At 100% speed controller output, drooping is at its
nominal level, i.e. equal to the value of the DROOP RATE. The
drooping effect decreases linearly to zero along with the decreasing
load.
0.0…100.0% Setting range. 10 = 1%
23.15 KPS TIS MIN FREQ The minimum frequency limit above which the relative gain and
integral time is defined by 23.17 KPS VAL MIN FREQ and 23.18 TIS
VAL MIN FREQ.
Note: Visible only after entering proper code in 16.03 PASS CODE.
0…200 Hz Setting range. 1 = 1 Hz
23.16 KPS TIS MAX FREQ The frequency point which relative KPS and TIS equal 100%.
Note: Visible only after entering proper code in 16.03 PASS CODE.
0…200 Hz Setting range. 1 = 1 Hz
23.17 KPS VAL MIN FREQ The relative gain percentage of the KPS value at the speed defined by
23.15 KPS TIS MIN FREQ.
Note: Visible only after entering proper code in 16.03 PASS CODE.
No. Name/Value Description FbEq
Motor
Speed
% of
nominal
Drooping
No Drooping
Speed Controller
100%
} DROOP RATE
Output / %
Drive load
100%
Example: Speed Controller output is 50%,
DROOP RATE is 1%,
maximum speed of the drive is 1500 rpm.
Speed decrease = 0.50 · 0.01 · 1500 rpm = 7.5 rpm
Speed decrease = Speed controller output · Drooping · Max. speed
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