8400 motec | Software Manual
Motor control (MCTRL)
V/f control (VFCplus + encoder)
90 L Firmware ≤ 02.00 - DMS 2.1 EN - 03/2011
5.7.2.1 Parameterising the slip regulator
The slip regulator is designed as a PI controller. In order to improve the response to setpoint
changes, the setpoint speed or setpoint frequency is added to the output (correcting
variable) of the slip regulator as feedforward control value.
In contrast to the conventional speed controller, the slip regulator only regulates the
slip.
In the Lenze setting, the slip regulator features a configuration with a good robustness
and moderate dynamics.
Slip regulator gain Vp
The setting range of the slip regulator gain Vp (C00972
) which leads to a stable operational
performance, mainly depends on the resolution of the speed sensor. There is a direct
relationship between encoder resolution and gain:
The higher the encoder resolution, the higher the gain can be set.
The following table gives maximum and recommended slip regulator gains for encoder
with standard encoder increments:
[5-1] Slip regulator gain Vp with regard to the encoder increment
Parameter Info Lenze setting
Value Unit
C00971/1 VFC: Controller limitation V/f +encoder 10.00 Hz
C00971/2
VFC: Slip limitation V/f +encoder 100.00 Hz
C00972
VFC: Vp V/f +encoder 0.100 Hz/Hz
C00973
VFC: Ti V/f +encoder 100.0 ms
Encoder increment
[Increments/revolution]
Slip regulator gain Vp
Maximum Recommended
8 0.09 0.06
64 0.52 0.31
100 0.79 0.47
120 0.94 0.57
128 1.00 0.60
256 1.29 0.77
386 1.63 0.98
512 1.97 1.18
640 2.31 1.38
768 2.65 1.59
896 2.99 1.79
1014 3.33 2.00
1536 4.69 2.81
2048 6.05 3.63
3072 8.77 5.26
4096 11.49 6.90
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