Keba ServoOne junior Device Help

7.10.3RateLimiter
Downstream of the control variable limiter there is another limitation which limits the
changes to the control variable per sampling segment. By P 2680[0] - CON_PRC_
Rate Limiter the limitation of the control variable steepness per millisecond can be
parameterized. By way of index (0) the limitation is active in standard process
controller operation. By way of index (1) reduction of the I-component is activated
(see table). With P 2672[0] - CON_PRC_OUTSEL = 3 the process controller delivers
an additive position reference value. The rate limiter limits the possible control
variable change. The control variable change each time interval by the process
controller results in a speed change on the motor shaft.
Example
The amount of the process controller to change the speed on the motor shaft should
not be higher than 100 revolutions per minute. To achieve this, the value of
parameter P2680[0] - CON_PRC_RateLimiter must be parameterized with a value
corresponding to the user unit. The unit of this parameter is [x/ms]. The x stands for
the respective unit of the process controller output variable. In this example the
control variable (additive position reference) has the unit "Increments" (see also
P270[0] - MPRO_FG_PosNorm). This parameter indicates how many increments
correspond to one motor revolution.
Conversion from [rpm] to [Inc/ms]
n
change
= 100 rpm
P270[0] - MPRO_FG_PosNorm in Inc/rev
Internal position resolution = 1048576 inc/rev (default)
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
174
7 Control
To reduce the I-component, the same method is applicable P2680[1] - CON_PRC_
Rate Limiter [Inc/ms]).
P2680[0] - CON_PRC_Rate Limiter = n
change
*1048576 *1/60000
P2680[0] [Inc/ms] = 100 [rpm] * P270[0] [Inc/rev] * 1/60 [min/s*] * 1/1000 [s/ms]
7.10.4Parameters
ID Index Name Unit Description
2659 0 CON_PRC_Kp  Processcontroller:gain
2660 0 CON_PRC_KP_SCALE % Processcontroller:gainscaling
2661 0 CON_PRC_Tn ms Processcontroller:integralactiontime
2662 0 CON_PRC_
REFOFFSET
 Offsetofthetechnologicalcontrolleroutput
2663 0 CON_PRC_LIMPOS  Positivelimitationoftheactuatorvariables
2664 0 CON_PRC_LIMNEG  Negativelimitationoftheactuatorvariables
2665 0 CON_PRC_CDIFF_
SIGN
 Processcontroller:signmodification
2666 0 CON_PRC_REFVAL  Processcontroller:setpoint
2667 0 CON_PRC_REFSCALE  Scalingfactorforsetpoint
2668 0 CON_PRC_ACTSEL 
Process controller: selection of the actual value
2669 0 CON_PRC_
ACTOFFSET
 Inputcalibration:offset
2670 0 CON_PRC_ACTTF ms Processcontroller:Timeconstantforfiltering
thecurrentactualvalue
2671 0 CON_PRC_ACTSCALE  Scalingofthefilteredinputsignal
2672 0 CON_PRC_OUTSEL  Processcontroller:Selectionoftheoutput
variable
2673 0 CON_PRC_RAW_
ACTVAL
 Actualvalueoftheinputsignal
2674 0 CON_PRC_ACTVAL  Inputsignalafterscalingandfiltering
2675 0 CON_PRC_CDIFF  Processcontroller:controldeviation
2676 0 CON_PRC_OUTVAL  Processcontroller:outputvalue
Table 7.48: “Process controller” parameters

Keba ServoOne junior Specifications

General

Brand	Keba
Model	ServoOne junior
Category	Controller
Language	English