KEB COMBIVERT F5 Servo User Manual

6
6
KEB COMBIVERT F5-M / S14
Name: Basis
12.05.04
Chapter Section Page Date
© KEB Antriebstechnik, 2002
All Rights reserved
Functional Desription Motor Data and Controller
6.6.11 Speed Control
The speed controller consists of a PI-controller, at which the P-factor is system-
deviation-dependent (see picture A) and the I-factor is speed-dependent (see
pictur†B).
Selection of the source of actual speed value. Following possibilities are selectable:
0 encoder channel 1
1 encoder channel 2
The proportional factor of the speed controller is adjusted in these parameters. In
addition to the standard KP-value a system-deviation-dependent proportional gain
can be adjusted with cS.7 and cS.8. With it the dynamic performance can be
improved and overshootings can be dampened.
cS.7 defines to what extent the control deviation affects the proportional factor.
cS.8 limits the proportional factor.
Exception: If the standard KP-value (cS.6) is larger than the limit value cS.8, then
the proportional factor is = cS.6.
KP speed (cS.6)
KP speed gain (cS.7)
KP speed limit (cS.8)
KI speed (cS.9)
KI offset (cS.10)
Max. speed for max. KI (cS.11)
Min. speed for cS.9 (cS.12)
Fig. 6.6.11 Mode of functioning of the speed controller
Picture A Picture B
To improve the standstill rigiditiy of the drive a standstill position control can be
adjusted. The position control becomes active when actual and setpoint speed
have reached the value 0†rpm . The position control is deactivated as soon as the
setpoint speed has reached a value of <> 0†rpm or when the control release is not
given.
The setpoint position, onto which the drive controls, is the position value at which
the condition actual and setpoint speed=0†rpm exists for the first time (at given
control release).
At Posi-/Synchron running (PS.0 ≠ 0) the position controller cannot be activated.
The proportional factor of the position controller is adjusted in cS.24. A value of 0
deactivates the controller.
Stand still position control
(cS.24)
These parameters define the integral factor of the speed controller. To achieve a
better speed rigidity at small speeds and in standstill the KI-factor can be varied in
dependence on the speed (cS.11, cS.12).
ï cS.9 forms the base value
ï the maximum KI-value is cS.9 + cS.10
ï the two corner speeds cS.11 and cS.12 define in which speed range the
KI-value is changed
cS.6
cS.7
KP factor
Xd(n)
cS.8
cS.9
cS.9 +cS.10
KI factor
act. speed
cS.12cS.11
Actual source (cS.1)

KEB COMBIVERT F5 Servo Specifications

General

Brand	KEB
Model	COMBIVERT F5 Servo
Category	DC Drives
Language	English