Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 88)

9400 HighLine | Parameter setting & configuration
Motor interface
Extended commissioning | Optimise speed controller
88 Firmware 1.37 - 09/2006
L
5.2.1 Optimise speed controller
The speed controller has been designed as a PID controller.
Gain, reset time & differential gain setting
The proportional gain Vp is selected under
C00070 :
1. Select the speed setpoint.
2. Increase C00070 until the drive becomes unstable (observe motor noises).
3. Reduce C00070, until the drive becomes stable again.
4. Reduce C00070 to approx. half the value.
Reset time setting
The reset time is selected under
C00071 :
1. Reduce C00071 until the drive becomes unstable (observe motor noises).
2. Increase C00071 until the drive becomes stable again.
3. Increase C00071 to approx. double the value.
Differential gain setting
The differential gain Td is selected under
C00072 :
r Increase C00072 during operation until an optimum control behaviour is reached.
Adaptation of the speed controller gain
Via the input MI_dnSpeedCtrlAdapt_n of the system block
LS_MotorInterface the
proportional gain Vp can be changed dynamically during operation:
r If the input MI_dnSpeedCtrlAdapt_n has not been assigned:
V
p
MI_dnSpeedCtrlAdapt_n [%] C00070 ⋅
=
V
p
100 % C00070 C00070
=
⋅
=