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21 M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Final speed demand at the input to the speed regulator formed by the sum of the ramp output and the hard speed reference (if the hard speed
reference is enabled). If the drive is disabled this parameter will show 0.0.
This is the speed feedback taken from the SLM encoder. This parameter shows the speed feedback used by the speed controller. This
includes quantisation ripple given by the counts per revolution (65535) and the sampling interval of 250µs.
The value seen on the drive display is filtered so that it can be read by the user, however, the actual parameter held within the drive is not
filtered. If this parameter is routed to an analog output the ripple will be present. It should be noted that the quantisation of the speed feedback
does not affect the resolution or accuracy of the speed controller. Use parameter 3.64 for analog output purposes for fast responses.
If the speed feedback (parameter 3.02) is at or below the level defined by this parameter in either direction the Zero speed flag (parameter
10.03)is1,otherwisetheflagis0.
Defines the lower threshold for at speed detection. Refer to parameter 3.09.
Defines the upper threshold for at speed detection. Refer to parameter 3.09.
Defines the speed above which the drive will trip due to overspeed.
When this parameter is set to a zero the limit is set by parameter 1.06 x1.2.
3.09 = 0 reference window mode. The at speed band is from (reference - lower limit) to (reference + upper limit). The reference is the pre-
ramp reference (parameter 1.03). The at speed indicator is active when the following is true:- ([1.03]-3.06)<[3.02]<([1.03]+03.07)
3.09 = 1 absolute window mode. The at speed band is from the lower limit to the upper limit. The at speed indicator is active when the
following is true:-3.06 <[3.02]<3.07.
The following diagram shows a generalised representation of the speed controller. The controller includes proportional (Kp) and integral (Ki)
feed-forward terms, and a differential (Kd) feedback term. The drive holds three sets of these gains and either set may be selected for use by
the speed controller with parameter 3.16.
3.16 = 1, gains Kp1, Ki1 and Kd2 are used
3.16 = 2, gains Kp2, Ki2 and Kd2 are used
3.16 = 3, gains Kp3, Ki3 and Kd3 are used
3.01 Final speed reference
ô
±Pr1.06
ð
rpm RO Bi P 0.04
3.02 Speed feedback
ô
±Pr1.06
ð
rpm RO Bi P 0.05
3.05 Zero-speed threshold
ô
0~200
ð
5rpmRWUni
3.06 At-speed lower limit
ô
±Pr1.06
ð
5rpmRWUni
3.07 At-speed upper limit
ô
±Pr1.06
ð
5rpmRWUni
3.08 Over-speed threshold
ô
0~n
max
ð
rpm RW Uni
3.09 Absolute at-speed detect mode select
ô
0~1
ð
0 RW Bit
3.10 Speed-loop proportional gain. Kp1
ô
0.0000 ~ 0.3000
ð
SLM RW Uni 0.13
3.11 Speed-loop integral gain. Ki1
ô
0.0000 ~ 30.000
ð
SLM RW Uni 0.14
3.12 Speed-loop derivative gain. Kd1
ô
0.0000 ~ 0.1000
ð
SLM RW Uni 0.15
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