6
6.1 Operating mode, speed/torque setpoint (P0700 = 1)
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
6.1.5 Speed controller adaptation
The speed controller can be adapted, depending on the speed or velo-
city, using the speed/velocity controller adaptation.
For example, in order to better overcome stiction at lower speeds, a
higher proportional gain can be set than for higher speeds.
Adaptation is enabled/disabled with P1413.
The following is valid with the adaptation enabled (P1413 = 1):
Proportional gain (K
p
):
The settings in P1407 and P1408 are effective as a function of the
lower (P1411) and upper thresholds (P1412).
The values are linearly interpolated in the adaptation range.
Integral action time (T
N
):
The settings in P1409 and P1410 are effective as a function of the
lower (P1411) and upper thresholds (P1412).
With adaptation disabled (P1413 = 0) the following is valid:
The proportional gain (K
p
, P1407) and the integral action time (T
N
,
P1409) are effective over the complete range.
K
p
T
N
n
P1409
P1407
P1410
P1408
0 P1411 P1412 P1401 x P1405
Constant lower speed range (n or v < P1411)
Adaptation range (P1411 < n or v < P1412)
Constant upper speed range (n or v > P1412)
without adaptation
with adaptation
Proportional gain K
p
Integral action time T
N
v
Fig. 6-6 Adaptation of the speed controller parameters using the
characteristic
Description
Enabling/disabling
adaptation
6 Description of the Functions
08.01
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