Parameters and firmware blocks
163
26
Firmware block:
SPEED ERROR
(26)
This block
• selects the source for speed error
calculation (speed reference -
actual speed) in different control
modes
• selects the sources for speed
reference and speed reference
feedforward
• defines the speed error filtering
time
• defines an additional speed step to
the speed error
• defines the supervision of speed
error with the speed error window
function
• defines inertia compensation during
acceleration
• shows the used speed reference,
filtered speed error and the output
of the acceleration compensation.
Block outputs located in other
parameter groups
3.05 SPEEDREF USED (page 101)
3.06 SPEED ERROR FILT (page 101)
3.07 ACC COMP TORQ (page 101)
26.01 SPEED ACT NCTRL FW block: SPEED ERROR (see above)
Selects the source for the actual speed in the speed control mode.
Note: This parameter has been locked, ie, no user setting is possible.
Value pointer: Group and index
26.02 SPEED REF NCTRL FW block: SPEED ERROR (see above)
Selects the source for the speed reference in the speed control mode.
Note: This parameter has been locked, ie, no user setting is possible.
Value pointer: Group and index
26.03 SPEED REF PCTRL FW block: SPEED ERROR (see above)
Selects the source for the speed reference in position and synchron control modes.
Note: This parameter is only for positioning applications.
Value pointer: Group and index
26.04 SPEED FEED PCTRL FW block: SPEED ERROR (see above)
Selects the source for the speed reference feedforward in position and synchron control modes.
Selects the source for the speed reference in homing and profile velocity modes.
SPEED ERROR
6
TLF3 250 µsec (2)
< 26.01 SPEED ACT NCTRL
SPEED ACT
(7 / 1.0 1)
< 26.02 SPEED REF NCTRL
SPEED REF RAMPED
(6 / 3.0 4)
< 26.03 SPEED REF PCTRL
SPEED REF RAMPED
(6 / 3.0 4)
< 26.04 SPEED FEED PCTRL
SPEED REF RAMPED
(6 / 3.0 4)
26.05 SPEED STEP
[ 0.00 rpm ]
26.06 SPEED ERR FTIME
[ 0.0 ms ]
26.07 SPEED WINDOW
[ 100 rpm ]
26.08 ACC COMP DERTIME
[ 0.00 s ]
26.09 ACC COMP FTIME
[ 8.0 ms ]
26.10 SPEED WIN FUNC
[ Disabled ]
26.11 SPEED WIN HI
[ 0 rpm ]
26.12 SPEED WIN LO
[ 0 rpm ]
3.05 SPEEDREF USED
3.06 SPEED ERROR FILT
3.07 ACC COMP TORQ
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