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In a transitional phase however the system passes through all of the band’s frequencies (ramp). The
use or otherwise of the exclusion bands requires the setting of the corresponding connection C38:
Band 1 (P179-P180) C81=0 (Default) not excluded, C81=1 excluded
Band 2 (P181-P182) C81<2 not excluded, C81=2 excluded
For example if the working fmax = 50Hz and the plant presents two resonance frequencies which are
quite clear at 45Hz and 35Hz the frequencies between 43 - 47 Hz and 33 - 37 Hz could be excluded
setting
P179 = (33/50)* 100.0 = 66.0%
P180 = (37/50)* 100.0 = 74.0%
P181 = (43/50)* 100.0 = 86.0%
P182 = (47/50)* 100.0 = 94.0%
C81=2 Enables both exclusion bands
2.2.2 SPEED CONTROL
Name Description Min Max Default UM Scale
END_SPD_REG_KP
P31 - KpV final speed regulator
proportional gain
0.1 400.0 4 10
END_SPD_REG_TI
P32 - TiV final speed regulator
lead time constant
0.1 3000.0 80 ms 10
END_SPD_REG_TF
P33 - TfV final speed regulator
(filter) time constant
0.0 25.0 0.8 ms 10
EN_TF2_SPD_REG
C69 - Enable 2nd order filter on
speed regulator
0 1 0 1
START_SPD_REG_TF
P34 - TfV initial speed regulator
(filter) time constant
0.0 25.0 0.8 ms 10
PRC_SPD_THR_GAIN_CHG
P44 - End speed for speed PI gain
change
0.0 100.0 0 % MOT_SPD_MAX 163.84
START_SPD_REG_KP
P45 - KpV initial speed PI
proportional gain
0.1 400.0 4 10
START_SPD_REG_TI
P46 - TiV initial speed PI lead time
constant
0.1 3000.0 80 ms 10
EN_SPD_REG_MEM_CORR
C77 - Enable PI speed gains
compenstation
0 1 0 1
EN_SPD_REG_D C72 - Enable feedforward 0 1 0 1
SPD_REG_KD_TF2
P168 - Second order feedforword
filter
0.0 1000.0 0.0 ms 10
PRC_MOT_SPD_MAX P51 - Maximum speed for alarm 0.0 125.0 120.0 % MOT_SPD_MAX 163.84
PRC_END_SPD_REF
D03 - Speed reference value after
ramp
-100 100 0 % MOT_SPD_MAX 163.84
PRC_MOT_SPD D04 - Speed reading -100 100 0 % MOT_SPD_MAX 163.84
PRC_T_REF D05 - Torque request -100 100 0 % MOT_T_NOM 40.96
MOT_SPD D21 - Motor rotation speed 0 rpm 1
First band
Second band
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