456 Rockwell Automation Publication 750-PM001N-EN-P - February 2017
Appendix C Application Notes
6. Set speed reference.
Program preset speeds according to Speed Select inputs that are used.
7. Run crane with crane control unit.
Verify speed references by checking P930 [Speed Ref Source].
8. Set speed loop tuning.
P645 [Speed Reg Kp] = P636 [Speed Reg BW] x P76 [Total Inertia] = BW x J (Inertia)
Input Status (1 = Input Actuated) Auto Reference
Source
DI Speed Sel 2 DI Speed Sel 1 DI Speed Sel 0
000Reference A
001Reference A
010Reference B
011Preset Speed 3
100Preset Speed 4
101Preset Speed 5
110Preset Speed 6
111Preset Speed 7
I/O Module Parameter (Port X) Setting
P10 [RO0 Sel] Port 0, P935 [Drive Status 1], Bit 16 “Running”
Drive Parameter Setting
P636 [Speed Reg BW] 20 R/S
Defines the reactivity of the speed regulator. This parameter is
used to calculate Kp and Ki gains.
P76 [Total Inertia] 1.5 Secs
This value can be increased or decreased depending on Speed
regulator response.
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