Overspeed
ASCII: VOSPD
Default: 3600 rpm valid for all OPMODES
Determines the upper limit for the motor speed. If this limit is exceeded, the servo amplifier switches into the
overspeed fault condition (error message F08).
Emergency ramp
ASCII: DECSTOP
Default: 10 ms valid for all OPMODES
The braking ramp for emergency braking. This braking ramp is used if the message n03, following error or n04,
response monitoring occurs, as well as on the activation of a hardware or software limit-switch.
Dis Ramp
ASCII : DECDIS
Default : 10 ms Valid for all OPMODES
If the output stage is disabled (by removal of the hardware or software enable), the internal speed setpoint
is run down to 0 along this ramp. When the speed has fallen below 5 rpm the output stage is disabled.
This ramp is only effective for motors that have a brake configured.
KP
ASCII: GV
Default: 1 valid for OPMODES 0+1
Determines the proportional gain (also known as AC-gain). Increase the value up to the level where the motor
starts to oscillate, and then back it off until the oscillations have clearly stopped. Typical values for this setting
are between 10 and 20.
Normalization: at KP = 1 and a control deviation of v_cmd -v_act = 3000 rev/min the instrument delivers the
peak current.
Tn
ASCII: GVTN
Default: 10 ms valid for OPMODES 0+1
Determines the integration time constant. Smaller motors permit shorter integration times; larger motors or high
moments of inertia in the load usually require integration times of 20 ms or more. With Tn=0msthe
I-component is switched off.
PID-T2
ASCII: GVT2
Default: 1 ms valid for all OPMODES
Affects the proportional gain (P-gain) at medium frequencies. It is often possible to improve the damping of the
speed control loop by increasing PID-T2 to about Tn/3. The setting is made, if required, after the basic setting of
KP and Tn.
Feedback
ASCII: GVFBT
Default: 0,4 ms valid for all OPMODES
If necessary, the time constant for the PT1-filter in the actual speed feedback (tachometer smoothing) can be
altered. This may improve the step response and smoothness of running, particularly for very small, highly
dynamic motors.
PI-PLUS
ASCII: GVFR
Default: 1 valid for OPMODES 0+1
This parameter only effects when the I-component is switched on (GVTN ¹ 0).
With the default setting, the speed controller functions as a standard PI-controller with slight overshoot in the
step response. If PI-PLUS is reduced to 0.65, the overshoot is avoided and the actual value approaches the
setpoint slowly.
Optionally, you can reduce Tn. This makes the drive stiffer for the same step response.
54 Setup Software
Screen page "Speed" 07/03 BECKHOFF
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