4.3 Speed control mode
49
Acceleration and deceleration can slow down the sudden change of speed, so that the
motor runs smoothly. As shown in the figure below, parameter P060 sets the acceleration time
of the motor from zero speed to rated speed, while parameter P061 sets the deceleration time
of the motor from rated speed to zero speed. If the command speed is lower than the rated
speed, the required acceleration and deceleration time is also shortened. If the driver and the
upper device form position control, the parameter should be set to 0.
4.3.4
Gain related to speed control mode
Para
meter
Name Range
Default
value
Unit Usage
P005 First speed loop gain 1～3000 40 Hz P,S
P006 First speed loop integral time constant 1.0～1000.0 20.0 ms P,S
P017 Load inertia ratio 0.0～200.0 1.0 times P,S
P018 Speed loop PDFF control coefficient 0～100 100 % P,S
Firstly, the ratio of load's moment of inertia is set, and then the gain of velocity loop and
the time constant of velocity loop integration are adjusted. The following is the speed
controller of the system. Increasing the speed loop gain K
V
can improve the speed response
bandwidth, and decreasing the speed loop integral time constant T
i
can increase the system
rigidity and reduce the steady-state error.
)
1
1(
ST
K
i
v
The P018 has a selectable speed controller structure, with 0 for IP regulator, 100 for PI
regulator, and 1～99 for PDFF regulator. If the parameter value of P018 is large, the system
has a high frequency response; if the parameter value is small, the system has a high stiffness
(deviation resistance ability); and if the parameter value is medium, both frequency response
and stiffness are considered.
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