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Optimization CT MODBUS RTU Technical Data
298 Installation and System Design Guide
Issue Number: 1
Jerk and movement of the Motor sheave when the Motor brakes open following tuning of the drives Start speed loop gains
• Enable start locking A55 / I22 = On (1)
• Increase A57 / I20 Start Lock P Gain for faster response during brake release until control noise / instability appears where A51 / I05 Start current
loop filter can be adjusted, increased to overcome any Motor acoustic noise present.
• Increase A50 / I02 Start Speed Loop Ki for stiffer control and maintaining zero speed during and following brake release
If Jerk and movement of the Motor sheave is still present
• Increase A57 / I20 Start Lock P Gain further along with A56 / I21 Start Lock P Gain Speed Clamp for the Start locking position control
• When vibrations start to occur with the higher gain setting reduce A57 / I20 Start Lock P Gain in steps of 1.00 from the maximum setting achieved
10.5 Creep to floor - Travel optimization
The ride comfort of the Elevator can be optimized through either the profile settings or by adjustment of the drives control loop gains. The travel profile
should firstly be set-up, optimized (Run jerk 2, Operating speed V2 to V4) prior to adjustment of the drives speed and current control loop gains.
10.5.1 Profile settings
Optimization of the travel is carried out adjusting the end of acceleration S ramp (Run jerk 2) and the operating speeds V2 through to V4.
Table 10-4 Travel profile optimization parameters
10.5.2 Control loop gains
During the travel, there are both Run speed and current control loop gains available along with a current loop filter. The position feedback filter
available is active during the complete travel and if required this should be adjusted to suit the start, travel and stop.
Table 10-5 Travel optimization parameters
Speed Loop Gain Adjustment (RFC-A, RFC-S)
The speed loop gains are adjusted separately for the Start and Run. The optimal values for high ride quality are dependent upon the Motor, Position
feedback and Mechanics of the Lift. The values below are basic values for Geared Induction Motors with position feedback installed correctly these
could be increased up to 10…20 times.
In addition to the Start and Run speed loop gain settings there is a Drive encoder speed feedback filter C09 which may be required for systems where
there is noise present on the speed feedback due to the installation, or where a low resolution speed feedback device is being used and there is
quantisation. These effects unless overcome will result in limited speed loop gain settings
The default speed loop gain values provide acceptable out of box operation, and adjustment will be required to the speed loop gain settings to reach
improved performance. It is recommended that Inspection speed is used during tuning of the speed loop gains.
Parameter Setting
Run Jerk 2 (G14)
If the ride comfort is hard at the end of acceleration when reaching constant speed increase the S ramp which will
result in a softer transition to the operating speed. If the ride comfort is soft decrease the S ramp which will provide a
stiffer transition through to the operating speed. Recommended = application specific
V2 Speed Reference (G02)
V3 Speed Reference (G03)
V4 Speed Reference (G04)
The operating speeds can be adjusted where the Elevator system is not reaching its required contract speed. The
selected operating speed can be seen in Reference Parameter Selected (J09). Recommended = application specific
Parameter Setting
Run Speed Loop P (I06)
Run Speed Loop I Gain (I07)
Run speed loop gains are optimized to overcome any overshoot during a transition in speed and vibration
during travel. The P gain should be increased to overcome overshoot and reduced to soften the transition
between speeds. The I gain can be increased at constant speed to ensure maximum torque, or reduced to
overcome or reduce vibration and acoustic noise. Recommended (P) = 500 to 1800 (I) = 1000 to 3000
Run Current Loop P Gain (I08)
Run Current Loop I Gain (I09)
High values of current loop P gain (> 150 % of autotune value) can result in motor acoustic noise. Low
values of current control loop gains (< 50 % of autotune value) will result in oscillations and poor ride quality.
Recommended = Autotune values
Run Current Loop Filter (I10)
Used to over come motor acoustic noise and instability due to system induced noise as a result of un-
shielded cables or poor shield and ground terminations. Recommended = 1.0 to 4.0 ms
Drive Encoder Feedback Filter (C09)
Used to over come motor acoustic noise and instability due to system induced noise as a result of un-
shielded cables or poor shield and ground terminations. Recommended = 1 to 2 ms
Parameter Description Default setting
A49 / I01 Start Speed Loop Kp 1.0000 s/rad
A50 / I02 Start Speed Loop Ki 20.00 s²/rad
A52 / I06 Run Speed Loop Kp 0.5000 s/rad
A53 / I07 Run Speed Loop Ki 10.00 s²/rad
C09 Encoder Feedback Filter Disabled (0)
Parameter Description
A49 / I01 Start Speed Loop Kp
A50 / I02 Start Speed Loop Ki
A52 / I06 Run Speed Loop Kp
A53 / I07 Run Speed Loop Ki
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