Def / Type
FbEq 16b / 32b
DescriptionName / Range /
Selection
No.
- / real32Defines the droop rate in percent of the nominal motor
speed.
Drooping decreases the drive speed slightly 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 this
parameter. The drooping effect decreases linearly to
zero along with the decreasing load.
The droop rate can be used e.g. to adjust the load
sharing in a Master/Follower application run by several
drives. In a Master/Follower application the motor
shafts are coupled to each other.
The correct droop rate for a process must be found
out case by case in practice.
Speed decrease = Speed controller output × Drooping
× Nominal speed
Example: Speed controller output is 50 %, droop rate
is 1 %, nominal speed of the drive is 1500 rpm.
Speed decrease = 0.50 × 0.01 × 1500 rpm = 7.5 rpm.
Motor speed in
% of nominal
Speed controller
output / %
Drive load
100%
No drooping
Drooping
100%
25.08 Drooping rate
Drooping rate25.8
100 = 1 % / 100 = 1 %Droop rate.0.00 ... 100.00 %
Not selected / uint32Selects the source for enabling/disabling speed
controller output balancing.
This function is used to generate a smooth, “bumpless”
transfer from a torque- or tension-controlled motor
back to being speed-controlled. When balancing is
enabled, the output of the speed controller is forced
to the value of 25.10 Speed ctrl balancing ref.
Balancing is also possible in the ramp generator (see
parameter 23.26 Ramp out balancing enable).
0 = Disabled
1 = Enabled
Speed ctrl balancing
enable
25.9
00Not selected
11Selected
2Digital input DI1 (10.2 DI delayed status, bit 0).DI1
3Digital input DI2 (10.2 DI delayed status, bit 1).DI2
4Digital input DI3 (10.2 DI delayed status, bit 2).DI3
330 Parameters
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