Menu 21
Parameter
structure
Keypad and
display
Parameter x.00
Parameter description
format
Advanced parameter
descriptions
Serial comms
protocol
Performance
194 Mentor MP Advanced User Guide
www.controltechniques.com Issue Number: 4
When the second motor is selected the gains defined in Pr 21.17 to Pr 21.19 are used directly by the speed controller. The speed controller setup
method defined by Pr 3.13 is ignored.
0, drv: Drive encoder
The position feedback from the encoder connected to the drive itself is used to derive the speed feedback for the speed controller and to calculate the
motor rotor flux position.
1, Slot1: Solutions Module in slot 1
The position feedback from the Solutions Module in Solutions Module slot 1 is used to derive the speed feedback for the speed controller and to
calculate the motor rotor flux position. If a position feedback category Solutions Module is not installed in slot 1 the drive produces an EnC9 trip.
2, Slot2: Solutions Module in slot 2
3, Slot3: Solutions Module in slot 3
4, tacho
5, Est speed
21.17 Speed controller Kp gain
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
4111
Range 0.00 to 6.5535(1 / (rad/s))
Default 0.0300
Normal motor
parameter
Pr 3.10 = {SP01, 0.61}
Update rate Background read
21.18 Speed controller Ki gain
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
2111
Range
0.00 to 655.35 s/rad s
-1
Default 0.10
Normal motor
parameter
Pr 3.11 = {SP02, 0.62}
Update rate Background read
21.19 Speed controller Kd gain
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
5111
Range 0.00000 to 0.65535(1/s / (rad/s))
Default 0.00000
Normal motor
parameter
Pr 3.12 = {SP03, 0.63}
Update rate Background read
21.21 Speed feedback selector
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1111
Range 0 to 5
Default 5
Normal motor
parameter
Pr 3.26 = {Fb01, 0.71}
Update rate Background read
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