Rockwell Automation Publication 20D-PM001D-EN-P - March 2019 37
Programming and Parameters Chapter 2
90 Spd Reg BW
Sets the bandwidth of the speed regulator in rad/sec. Bandwidth is also referred to as the crossover frequency.
Small signal time response is approximately 1/BW and is the time to reach 63% of set point. A change to this
parameter will cause an automatic update of Par
81 [Spd Reg P Gain] and Par 82 [Spd Reg I Gain]. To disable the
automatic gain calculation, set this parameter to a value of zero.
Default:
Min/Max:
Units:
10.0000
0.0000/500.0000
rad/s
Y
RW Real
91 Spd Reg Damping
Sets the damping factor of the drive's characteristic equation and factors in the calculation of the integral gain. A
damping factor of 1.0 is considered critical damp. Lowering the damping will produce faster load disturbance
rejection, but may cause a more oscillatory response. When Par 90 [Spd Reg BW] is set to zero, damping factor has
no effect.
Default:
Min/Max:
1.0000
0.5000/3.0000
Y
RW Real
92 SpdReg P Gain Mx
Places a limit on the maximum value of proportional gain in Par 81 [Spd Reg P Gain] and
Par
104 [Srlss Spd Reg Kp]. When gains are automatically calculated, this parameter is necessary to limit the
amplification of noise with increased inertia.
Note: The Max. value was increased from 600.0000 for firmware version 3.001.
Default:
Min/Max:
100.0000
0.0000/3000.0000
Y
RW Real
93 SRegFB Filt Gain
Sets the lead term for the speed feedback filter. Values greater than 1 will result in a lead function and values less
than 1 will result in a lag function. A value of 1 will disable the filter.
Default:
Min/Max:
1.0000
-5.0000/20.0000
Y
RW Real
94 SReg FB Filt BW
Sets the frequency for the Speed Feedback filter.
Default:
Min/Max:
Units:
35.0000
0.0000/3760.0000
rad/s
Y
RW Real
95 SRegOut FiltGain
Sets the lead term for the Speed Regulator output filter. Values greater than 1 will result in a lead function and
values less than 1 will result in a lag function. A value of 1 will disable the filter.
Note: The default value for this parameter was changed from 0.7000 to 1.0000 for firmware version 2.003.
Default:
Min/Max:
1.0000
-/+5.0000
Y
RW Real
96 SReg Out Filt BW
Sets the frequency for the Speed Regulator output filter.
Default:
Min/Max:
Units:
30.0000
0.0000/3760.0000
rad/s
Y
RW Real
97 Act Spd Reg BW
Displays the actual speed regulator bandwidth or crossover frequency. The value represents the bandwidth in
Par 90 [Spd Reg BW] after the maximum bandwidth limits have been applied.
Default:
Min/Max:
Units:
10.0000
0.0000/500.0000
rad/s
RO Real
98 Slip RPM @ FLA
Sets the amount of compensation to drive output at motor full load current (FLA).
Note: This parameter was added for firmware version 2.003.
Default:
Min/Max:
Units:
Based on [Motor NP RPM]
0.0/1200.0 rpm
rpm
Y
RW 16-bit
Integer
99 Slip Comp Gain
Sets the response time of slip compensation.
Note: This parameter was added for firmware version 2.003.
Default:
Min/Max:
Units:
40.0
1.0/100.0
rad/s
Y
RW 16-bit
Integer
100 Speed Error
The error (difference) between the motor speed reference (+) and the filtered motor speed feedback (–).
Default:
Min/Max:
Units:
Scale:
0.0000
-/+14112.0000
rpm
Par 4 [Motor NP RPM] = 1.0 P.U.
RO Real
101 SpdReg Integ Out
The output value of the Speed Regulator Integral channel.
Default:
Min/Max:
Units:
Scale:
0.0000
-/+8.0000 P.U.
P. U .
1.0 P.U. Torque
RO Real
102 Spd Reg Pos Lim
Sets the positive limit of the Speed Regulator output value. The output of the Speed Regulator is limited by
adjustable high and low limits.
Default:
Min.Max:
Units:
Scale:
3.0000
0.0000/6.0000
P. U .
Par 4 [Motor NP RPM] = 1.0 P.U.
Y
RW Real
103 Spd Reg Neg Lim
Sets the negative limit of the Speed Regulator output value. The output of the Speed regulator is limited by
adjustable high and low limits.
Default:
Min/Max:
Units:
Scale:
-3.0000
-6.0000/0.0000
P. U .
Par
4 [Motor NP RPM] = 1.0 P.U.
Y
RW Real
104 SrLss Spd Reg Kp
Sets the proportional gain of the Speed Regulator when sensorless motor speed feedback is used. This value is
automatically calculated based on the bandwidth set in Par 106 [Srlss Spd Reg BW]. Proportional gain may be
manually adjusted by setting Par 106 to zero. This gain setting has no units (per unit torque) / (per unit speed
error).
Default:
Min/Max:
8.0000
0.0000/200.0000
Y
RW Real
105 SrLss Spd Reg Ki
Sets the integral gain of the Speed Regulator when sensorless motor speed feedback is used. This value is
automatically calculated based on the bandwidth set in Par
106 [Srlss Spd Reg BW]. Integral gain may be
manually adjusted by setting Par 106 to zero. Units are '/s' (per unit torque/sec) / (per unit speed error).
Default:
Min/Max:
Units:
8.0000
0.0000/4095.8000
/s
Y
RW Real
106 SrLss Spd Reg BW
Sets the bandwidth of the Speed Regulator when sensorless motor speed feedback is used. Bandwidth is also
referred to as the crossover frequency. Small integral time response is approximately 1/BW and is the time to
reach 63% of set point. A change to this parameter will cause an automatic update of Par
104 [Srlss Spd Reg Kp]
and Par 105 [Srlss Spd Reg Ki]. To disable the automatic gain calculation, set this parameter to zero.
Default:
Min/Max:
Units:
10.0000
0.0000/30.0000
rad/s
Y
RW Real
No. Name
Description
Values
Linkable
Read-Write
Data Type
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