270 Parameters
25.03 Speed integration
time
Defines the integration time of the speed controller. The
integration time defines the rate at which the controller output
changes when the error value is constant and the
proportional gain of the speed controller is 1. The shorter the
integration time, the faster the continuous error value is
corrected.
Setting the integration time to zero disables the I-part of the
controller. This is useful to do when tuning the proportional
gain; adjust the proportional gain first, then return the
integration time.
The integrator has anti-windup control for operation at a
torque or current limit.
The figure below shows the speed controller output after an
error step when the error remains constant.
2.50 s;
5.00
(95.21 b1/b2)
Note: This parameter is automatically set by the speed
controller autotune function. See section Speed controller
autotune (page 81).
0.00 … 1000.00 s Integration time for speed controller. 10 = 1 s
No. Name/Value Description Def/FbEq16
K
p
×e
K
p
×e
%
e = Error value
Time
Gain = K
p
= 1
T
I
= Integration time > 0
T
D
= Derivation time = 0
Controller output
T
I
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