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81EU01E-E GJR2391500R1210 GJR2391511R42 module

The adaptive gain of the speed controller is used to smooth out disturbances which are caused by e.g. low load and backlash. Moderate filtering of speed error FRS (2005) is typically not enough to tune the drive. Especially if there is a substantial backlash in the drive and the drive oscillates at a low torque due to the mechanics. Parameter KPSMIN (2015) determines the proportional gain when the controller output is zero. When the output exceeds the value of parameter KPSPOINT(2016), the proportional gain is normal KP (2014). The rate of change of the proportional gain can be smoothened by means of parameter KPSWEAKFILT (2017).The speed control output OUT (12004) is limited by the TORQUE/CURRENT LIMITATION function block (SPC TORQMAX1 and SPC TORQMIN1). Output IN LIMIT (12005) is in logical state 1, when the output of the speed controller is in positive or negative limit.

Integral part Setting during the Control Mode Changing

 Output from the integral part can be adjusted to a certain level by setting the [BAL] (2008) to logical state 1; then the value of [BAL REF] (2009) is set to the output of the integral part. There is another similar function controlled by [BAL2] (2010) and [BAL2 REF] (2011). BAL REF and BAL inputs are used, for example, in the mechanical brake control block of the standard program. BAL2 REF and BAL2 inputs are used in torque control. In torque control the integral part of the speed controller follows the OUT (12402) pin of the TORQ REF HANDLING function block. This function provides an bumpless current reference during a change of control mode (for example Torque --> Speed control).

Principle of Drooping

 Drooping can be used if a certain amount of speed decrease is needed when the load increases, for example, in the slave drive(s) when they are speed controlled. Then the master and slave drives do not conflict with each other before the slave(s) change to torque control even if there is a slight speed difference between them. On the other hand, drooping is used in drives where mechanical connection is not strong enough to enable use of torque control. Drooping Adjustment The amount of speed decrease caused by the load is defined by the parameter DROOPING (2013). The scaling is 10=1%. With the torque reference 4000 the speed will decrease 1% calculated from the rated speed when DROOPING = 10.