Def / Type
FbEq 16b / 32b
DescriptionName / Range /
Selection
No.
2.50; 5.00 s (95.21
b1/b2) s / real32
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.
Controller output
Gain = K
p
= 1
T
I
= Integration time > 0
T
D
= Derivation time = 0
e = Error value
Time
%
K
p
x e
K
p
x e
T
I
Note: This parameter is automatically set by the speed
controller autotune function. See section Speed
controller autotune (page 87).
Speed integration
time
25.3
10 = 1 s / 100 = 1 sIntegration time for speed controller.0.00 ... 1000.00 s
Parameters 327
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