The operation stability is generally more critical when the speed maximum
value being set according to the maximum reference decreases. In order to
set maximum speed values being especially low, it is therefore
recommended to reduce the reference amplification through the Gain function
relating to the selected analog input (see the SPEED CONTROL OPTIONS
chapter), instead of adjusting the feedback.
2.5.2 The value of the reference for the jog run (jog) may be chosen among the three values set on
parameters P222 … P224 (default values: +5 %,-5 % and 0 % respectively), while the set value should be
selected via a combination of two MDIx configurable digital inputs (max.) by programming parameters
C130(131)(132)(133)(134)(135) at values 12:JogA and 13:JogB (these configurations are both default
values on MDI2 on terminal 30 and on MDI3 on terminal 32 respectively: see the table reported in the
chapter dealing with parameters P222 … P224).
2.6 RAMP CONFIGURATION IN SPEED CONTROL MODE
2.6.1 The reference applied to the ramps will be indicated in the following chapters of this Manual (and in the
BLOCK DIAGRAM) as Ref n. For this Ref n, some ramp times may be programmed; set the value on par.
P030 … P035 (default values: 0s) or set the roundings through par. P038 and P039 (default values: 0s).
2.6.2 On the other hand, the jog run ramps are indicated by parameter P221 (by default, they have
also been applied to the Ref n reference) and, depending on the parameter setting, may also be indicated
by parameters P030 … P035 (default values: 0s) or by parameter P036 and parameter P037 (default
values: 0s).
2.6.3 The ramp and rounding times, indicated by parameters P030 … P035, P038, P039, may also be
changed in continuous mode from the outside, through one of the configurable analog inputs. To do that,
set parameters C120(121)(122) to one of values 3:Ramps reduct. … 7:tDN-reduction, otherwise they may
be set to zero through one of the MDIx configurable digital inputs by programming parameters
C130(131)(132)(133)(134)(135) to 7:Ramps Disabled..
2.6.4 In case of medium-duration ramps, set the integral time automatic increase during ramp
through par. P085 (disabled by default).
2.7 SPEED CONTROL OPTIONS
2.7.1 The signal entering analog inputs REF, IN1, IN2, IN3 may be set with the following operators:
Gain (with parameter P122, parameter P128, parameter P131 and parameter P134 respectively,
default values: 100%), Bias (with parameter P121, parameter P127, parameter P130 and parameter
P133 respectively, default values: 0%) and Polarity (with parameter P120, parameter P126, parameter
P129 and parameter P132 respectively, default values: Bipolar).
All these four inputs may be assigned to the Reverse operator (by means of programmable digital inputs
MDIx, by setting parameter C130(131)(132)(133)(134)(135) at 5:Reverse. This is the default configuration
for MDI6 on terminal 38).
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