ACS Tech80 SB1391 - Page 144

6-16 TUNING THE CONTROL LOOPS
SB1391 Hardware and Setup Guide - Document revision no. 1.14
A = 1+1.4*
ω
ωω
ω
n
* T
s
+ (
ω
ωω
ω
n
T
s
)
2
D23 = (
ω
ωω
ω
n
T
s
)
2
* (2
16
/A)
D24 = (1+0.7*
ω
ωω
ω
n
* T
s
)*2
16
/A
D25 =
A
16
2
ω
ωω
ω
n
= 2*3.14* F
n
Example: For F
n
=637Hz: D23 = 1986
D24 = 56599
D24 = 49648
6.5.2. Velocity Proportional-Integral Filter
The proportional-integral (PI) filter is implemented using the following parameters:
D8
Proportional gain
D7
Integrator gain [0, 6000]. The bandwidth of the integrator is D7/20 [Hz].
D9
Integrator limit.
Parameter D22 determines the scaling factor for the velocity feedback and the velocity feed
forward. Adjuster automatically sets D22 to:
tyMax veloci
10600
D22
5
×
=
Max velocity is the maximum velocity [count/sec] that the motor will be running at.
(Max velocity is defined in the Motor feedback parameters step of the adjustment session.)
The default value for D22 is 2000 [maximum value: 30,000].