[5] MCO encoder 2
NB!
If separate encoders are used (FC 302 only) the ramp settings parameters in the
following groups: 3-4*, 3-5*, 3-6*, 3-7* and 3-8* must be adjusted according to
the gear ratio between the two encoders.
7-02 ProportionalGain
Range: Function:
Size re-
lated
[0.000 - 1.000] Enter the speed controller proportional gain. The proportional
gain amplifies the error (i.e. the deviation between the feedback
signal and the set-point). This parameter is used with par. 1-00
Speed open loop
[0] and
Speed closed loop
[1] control. Quick
control is obtained at high amplification. However if the ampli-
fication is too great, the process may become unstable.
7-03 Speed PID Integral Time
Range: Function:
8.0 ms
*
[2.0 - 20000.0 ms] Enter the speed controller integral time, which determines the
time the internal PID control takes to correct errors. The greater
the error, the more quickly the gain increases. The integral time
causes a delay of the signal and therefore a dampening effect,
and can be used to eliminate steady state speed error. Obtain
quick control through a short integral time, though if the integral
time is too short, the process becomes unstable. An excessively
long integral time disables the integral action, leading to major
deviations from the required reference, since the process reg-
ulator takes too long to regulate errors. This parameter is used
with
Speed open loop
[0] and
Speed closed loop
[1] control, set
in par. 1-00
Configuration Mode
.
7-04 Speed PID Differentiation Time
Range: Function:
30.0 ms [0.0 - 200.0 ms] Enter the speed controller differentiation time. The differentia-
tor does not react to constant error. It provides gain propor-
tional to the rate of change of the speed feedback. The quicker
the error changes, the stronger the gain from the differentiator.
The gain is proportional with the speed at which errors change.
Setting this parameter to zero disables the differentiator. This
parameter is used with par. 1-00
Speed closed loop
[1] control.
7-05 Speed PID Diff Gain Limit
Range: Function:
5.000
*
[1.0 - 20.0] Set a limit for the gain provided by the differentiator. Since the
differential gain increases at higher frequencies, limiting the
gain may be useful. For example, set up a pure D-link at low
frequencies and a constant D-link at higher frequencies. This
parameter is used with par. 1-00
Speed closed loop
[1] control.
2. How to Programme FC 300 Programming Guide
122
MG.33.M2.02 - VLT
®
is a registered Danfoss trademark
2
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