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Diagnostics Optimization CT MODBUS RTU Technical Data
260 E300 Design Guide
Issue Number: 1
1 (Acceleration feed-forwards)
When acceleration feed-forwards is selected a gain term is automatically calculated based on the currently active drive speed controller gains, Inertia
Compensation Total Inertia (E15) and Torque Per Amp (E16). The acceleration feed-forwards term is intended to cancel the effect of the speed
controller time constant and give a faster position control loop response. Current Controller Mode (H17) must be set to On (1) to use this functionality.
2 (Torque feed-forwards)
When torque feed-forwards is selected the acceleration from the profile generator is used to define the torque feed-forwards. The Inertia
Compensation Total Inertia (E15), Torque Per Amp (E16) and the output user units ratio are used to convert from acceleration to torque. It should be
noted that the Inertia Compensation Torque (E17) is added to the output of the speed controller when Inertia Compensation Mode Select (E14) = 2.
Figure 8-18 Inertia Compensation
This can be used to overcome the mechanical inertia of the elevator system. Implementing inertia compensation gives a dynamic torque feed forward
based upon the inertia of the system and the acceleration rate used, reducing the work done by the speed loop i.e. reduces speed loop error.
The Inertia Compensation Total Inertia (E15) represents the total inertia driven by the motor. This is used to set the speed controller gains and to
provide torque feed forwards during acceleration when required.
It is possible to measure the inertia as part of the auto-tune process (see Motor Autotune (B11).
RFC-A
Torque Per Amp (E16) is automatically calculated from the motor parameters assuming a motor efficiency of 90%.
Torque Per Amp (E16) = Estimated rated shaft power / [Motor Rated Speed (B07) x I
TRated
]
E15 Inertia Compensation Total Inertia
Mode RFC-A, RFC-S
Minimum 0.00000 Maximum 1000.00000
Default 0.00000 Units
kg m
2
Type 32 Bit User Save Update Rate 1 s read
Display Format Standard Decimal Places 5
Coding RW
E16 Torque Per Amp
Mode RFC-A, RFC-S
Minimum 0.00 Maximum 500.00
Default Units Nm / A
Type 16 Bit Volatile Update Rate Background write
Display Format Standard Decimal Places 2
Coding RO, ND, NC, PT, BU
Inertia Compensation Mode Select (E14)
Inertia compensation acceleration (E18)
Torque
Calculation
0.1%
Torque
Inertia Compensation Torque (E17)
Torque Per Amp (E16)
Inertia Compensation Total Inertia (E15)
0
2
Acceleration
Feed
Forward
Calculation
Torque Per Amp (E16)
Inertia Compensation Total Inertia (E15)
1
0
Acceleration
Feed
Forward
Reference
to drive
Final Torque Reference (J27)Load cell compensation
+
+
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