Actual signals and parameters
87
23.04 ACC COMPENSATION Defines the derivation time for acceleration compensation. In order to
compensate inertia during acceleration a derivative of the reference is
added to the output of the speed controller. The principle of a
derivative action is described for 23.03 DERIVATION TIME.
Note: As a general rule, set this parameter to the value between 50
and 100% of the sum of the mechanical time constants of the motor
and the driven machine. (The speed controller autotuning does this
automatically, see 23.06 AUTOTUNE RUN).
The figure below shows the speed responses when a high inertia load
is accelerated along a ramp.
0.00…999.98 s Derivation time. 10 = 1 s
23.05 SLIP GAIN Defines the slip gain for the motor slip compensation control. 100%
means full slip compensation; 0% means no slip compensation. The
default value is 100%. Other values can be used if a static speed error
is detected despite of the full slip compensation.
Example: 1000 rpm constant speed reference is given to the drive.
Despite of the full slip compensation (SLIP GAIN = 100%), a manual
tachometer measurement from the motor axis gives a speed value of
998 rpm. The static speed error is 1000 rpm - 998 rpm = 2 rpm. To
compensate the error, the slip gain should be increased. At the 106%
gain value, no static speed error exists.
0.0…400.0% Slip gain value. 1 = 1%
23.06 AUTOTUNE RUN Start automatic tuning of the speed controller. Instructions:
- Run the motor at a constant speed of 20 to 40% of the rated speed.
- Change the autotuning 23.06 AUTOTUNE RUN to YES.
Note: The motor load must be connected to the motor.
NO No autotuning. 0
YES Activates the speed controller autotuning. Automatically reverts to NO. 65535
23.07 INTEG INIT VALUE Initial value of the integrator.
-300.00…300.00% Setting range. 100 = 1%
23.08 DERIV FILT TIME Derivation time for the speed controller.
0.0…100000.00 ms Setting range. 1 = 1 ms
23.09 ACC COMP FILT Acceleration compensation term filter coefficient.
0.0…999999.0 ms Setting range. 1 = 1 ms
23.10 DAMPENING COEF Coefficient of dampening for AUTOTUNE RUN. A lower value yields
an increased dynamic response.
Note: Visible only after entering proper code in 16.03 PASS CODE.
0…10 Setting range. 1 = 1
No. Name/Value Description FbEq
Speed reference
Actual speed
No Acceleration Compensation Acceleration Compensation
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