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Diagnostics Optimization CT MODBUS RTU Technical Data
146 E300 Design Guide
Issue Number: 1
The brake apply delay sets the time in ms for the brake to be fully applied / closed on the motor. This is used during stopping to determine when the
brake is considered fully applied / closed, and the control sequence can be completed i.e. prior to ramping down the motor torque and disabling the
drive. This time is also taken into consideration for the brake contact monitoring.
A49 (Start Speed Loop P Gain I01)
A50 (Start Speed Loop I Gain I02)
Start speed loop P Gain sets the speed loop proportional gain, and Start speed loop I Gain sets the speed loop integral gain during the start of the
profile. These gains can be optimized to overcome roll back and achieve a smooth transition from zero speed to acceleration. The Start P Gain and I
Gain are active from zero speed during start, and are ramped to the variable gains transition speed threshold for a transition to the Run P Gain and I
Gain when parameter Variable Gains Mode (I19) = 1 (Start, Run).
The default transition time for the acceleration (active when parameter Variable Gains Mode (I19) = 1 (Start, Run)), is 1000 ms which can be adjusted
if required through parameter Variable Gains Accel Transition Time (I17). The transition time is used to ramp from the Start gains to the Run gains.
A51 (Start Current Loop Filter I05)
The Start current loop filter defines the time constant of a first order filter that can be applied to the final current reference. The filter is provided to
reduce acoustic noise and vibration produced as a result of position feedback quantization, or induced noise on the position feedback. The filter
introduces a lag in the speed control loop, and therefore the speed controller gains may need to be reduced to maintain stability as the filter time
constant is increased.
A52 (Run Speed Loop P Gain I06)
A53 (Run Speed Loop I Gain I07)
Run speed loop P Gain sets the speed loop proportional gain and Run speed loop I Gain sets the speed loop integral gain during the travel. The Run
P Gain and I Gains are active from when the variable gains transition speed threshold is reached during acceleration for variable Start and Run gains,
the default configuration.
The default transition time for acceleration (active when parameter Variable Gains Mode (I19) = 1 (Start, Run)) is 1000 ms which can be adjusted if
required through parameter Variable Gains Accel Transition Time (I17). The transition times are used to ramp from the Start gains to the Run gains.
A54 (Run Current Loop Filter I10)
The Run current loop filter defines the time constant of a first order filter that can be applied to the final current reference. T
he filter is provided to
r
educe acoustic noise and vibration produced as a result of position feedback quantization, or induced noise on the position feedback. The filter
introduces a lag in the speed control loop, and therefore the speed controller gains may need to be reduced to maintain stability as the filter time
constant is increased.
A49 {I01}
A50 {I02}
Start Speed Loop P Gain
Start Speed Loop I Gain
RW Num US
OL
Ú Ö
RFC-A
0.0000 to 200.0000 s/rad
0.00 to 655.35 s
2
/rad
P - 0.0300 s/rad
I - 0.10 s
2
/rad
RFC-S
A51 {I05} Start Current Loop Filter
RW Num US
OL
Ú Ö
RFC-A
0.0 to 25.0 ms 1.0 ms
RFC-S
A52 {I06}
A53 {I07}
Run Speed Loop P Gain
Run Speed Loop I Gain
RW Num US
OL
Ú Ö
RFC-A
0.0000 to 200.0000 s/rad
0.00 to 655.35 s
2
/rad
P - 0.0300 s/rad
I - 0.10 s
2
/rad
RFC-S
A54 {I10} Run Current Loop Filter
RW Num ND US
OL
Ú Ö
RFC-A
0.0 to 25.0 ms 1.0 ms
RFC-S
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