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Diagnostics Optimization CT MODBUS RTU Technical Data
Installation and System Design Guide 263
Issue Number: 1
Reported fault Root cause Recommended actions
Vibration on brake
release
Speed control loop
If the speed loop integral gain is to high this can result in vibration during start and on
brake release, reduce the start speed loop I gain. The proportional gain can also be
reduced to improve stability, however low values can result in roll back on brake
release.
• Refer to Menu I Tuning to adjust start speed loop gains under both full load and no
load conditions.
• Ensure good EMC practices are followed for the position feedback, induced noise
can limit the level of control loop gain which can be achieved
Start position lock
If the Start lock P gain is to high prior to and during brake release this will result in
vibration during the start, to overcome vibration reduce the p gain, if this has little
effective the speed loop start i gain should also be reduced.
• Refer to Menu I Tuning to adjust start lock for start under both full load and no load
conditions.
• Ensure good EMC practices are followed for the position feedback, induced noise
can limit the level of control loop gain which can be achieved
Position feedback Closed loop
operation)
Check the position feedback in Closed loop operation. Where induced noise is present
on the position feedback cabling this can result in unstable control.
• Ensure good EMC practices are followed with regards to cable routing, screen and
terminations. Refer to Drive Encoder Feedback Filter (C09) which can also be used
to limit induced noise.
Vibration during
operation
Speed control loop
If the speed loop I, P gains are set-up incorrectly vibration can occur during any part of
the travel. The speed loop gains are split into 2 sections with the default set-up being
(1) Start speed loop gains and (2) Travel, Stop speed loop gains.
• Refer to Menu I Tuning to adjust the Start, Travel, Stop speed loop gains for both full
load and no load conditions.
• Ensure good EMC practices are followed for the position feedback, induced noise
can limit the level of control loop gain which can be achieved
Position feedback Closed loop
operation)
Check the position feedback in Closed loop operation. Where induced noise is present
on the position feedback cabling this can result in unstable control.
• Ensure good EMC practices are followed with regards to cable routing, screen and
terminations. Refer to Drive Encoder Feedback Filter (C09) which can also be used
to limit induced noise.
Current control loop
The current control loop gains calculated from the autotune may be high for the given
motor and can be manually adjusted or a current control loop filter implemented where
vibration is present. Note there is separate current control adjustment for (1) Start and
(2) Travel-Stop as default.
• Refer to Menu I Tuning to adjust the current control loop under both full load and no
load conditions.
Roll back during start
Speed control loop
During the start on brake release if roll back occurs the start speed loop I gain should be
increased. Excessive values can result in motor acoustic noise and therefore may
require the position lock at start to be enabled. If a low resolution encoder is being used,
or there is induced noise on the position feedback these can limit the maximum speed
loop gain due to acoustic noise and instability.
• Refer to Menu I Tuning to adjust the start speed loop I gain for both full load and no
load conditions.
• Ensure good EMC practices are followed for the position feedback, induced noise
can limit the level of control loop gain which can be achieved
Start position lock
During the start on brake release if the start speed loop I gain is limited due to a low
resolution encoder or there is induced noise on the position feedback the position lock
for start can be enabled.
• Refer to Start Lock P Gain (I20). The start speed loop gains I, P may need to be
reduced to achieve a high P gain setting for the start lock. The start lock should be
set-up for both full load and no load conditions
Load cell compensation
If the Elevator system has a load cell available this can be connected to the drive using
analog input 2 and provide a torque feed forward during the start to overcome roll back.
• Refer to Menu E Mechanical for the Load cell compensation parameters to set-up
compensation. Where the load cell compensation signal is unstable /noisy, a filter
can be implemented with Load Cell Compensation Filter Time Constant (E12)
Reported fault Root cause Recommended actions
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