Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 122)

122 Rockwell Automation Publication 750-PM001J-EN-P - October 2014
Chapter 3 Drive Port 0 Parameters
SPEED C
O
NT
ROL
Sp
ee
d Regula
tor
644 Spd Err Fltr BW
Speed Error Filter Bandwidth
Sets the bandwidth of a 2nd order Butterworth low pass filter that is located in the
proportional gain section of the speed regulator (in FV motor control modes). It filters a
signal that is derived from P641 [Speed Error]. The purpose of this filter is to reduce
quantization noise.
When P636 [Speed Reg BW] is set to a non-zero value, this filter will be automatically
set. If P636 [Speed Reg BW] is set to zero, this filter setting must be manually adjusted.
It is normally set to at least 3 to 5 times the value of P636 [Speed Reg BW]. A value of
zero disables the filter.
The rules that are used to set the error filter bandwidth in automatic mode are as
follows:
1. If the primary motor velocity feedback is Open Loop, then the error filter is set to 5
times P636 [Speed Reg BW].
2. If a primary motor velocity feedback device has been selected and P704 [InAdp
LdObs Mode] = 1 “InertiaAdapt,” then the error filter is set to 3 times P636 [Speed
Reg BW].
3. If a primary motor velocity feedback device has been selected and P704 [InAdp
LdObs Mode] = 0 “Disabled” or 2 “LoadObserver” then the error filter is using a table
look up value determined by the setting of P126 [Pri Vel FdbkFltr].
Important: When Auto Tach Switchover is enabled through P635 [Spd Options Ctrl],
this filter adjustment applies only to the primary feedback source. The filter setting P651
[AltSpdErr FltrBW] is used for the alternate feedback source.
Units:
Default:
Min/Max: R/S
50.00
0.00 / 8000.00 RW Real
645 Speed Reg Kp
Speed Regulator Kp
Sets the proportional gain of the speed regulator (in FV motor control modes). This value
is automatically calculated based on the bandwidth setting in P636 [Speed Reg BW] and
P76 [Total Inertia]. The proportional gain may be manually adjusted by setting P636
[Speed Reg BW] to a value of zero. Proportional gain has effective scaling of (per unit
torque) / (per unit speed). The maximum allowable value of this parameter is limited by
P76 [Total Inertia] and P646 [Speed Reg Max Kp]. Default:
Min/Max: 20.00
0.00 / P646 [Speed Reg Max Kp] RW Real
646 Speed Reg Max Kp
Speed Regulator Maximum Kp
Limits the maximum value of P645 [Speed Reg Kp] and P649 [Alt Speed Reg Kp]. When
gains are automatically calculated, this parameter is necessary to limit the amplification
of noise with increased inertia. Default:
Min/Max: 3000.00
0.00 / 3000.00 RW Real
647 Speed Reg Ki
Speed Regulator Ki
Sets the integral gain of the speed regulator (in FV motor control modes). This value is
automatically calculated based on the bandwidth setting in P636 [Speed Reg BW], P645
[Speed Reg Kp] and P653 [Spd Loop Damping]. Integral gain may be manually adjusted
by setting P636 [Speed Reg BW] to a value of zero. Integral gain has effective scaling of
(per unit torque/seconds) / (per unit speed). Units:
Default:
Min/Max: /Sec
50.00
0.00 / 100000.00 RW Real
648 Alt Speed Reg BW
Alternate Speed Regulator Bandwidth
Provides an independent setting for the same function as P636 [Speed Reg BW], but is
active only when Automatic Feedback Loss Switchover occurs (indicated by Bit 5 of P936
[Drive Status 2]). A change to this parameter will cause an automatic update of P649 [Alt
Speed Reg Kp], P650 [Alt Speed Reg Ki] and P651 [AltSpdErr FltrBW]. See P636 for
additional information regarding speed regulator bandwidth. Also see P635 [Spd
Options Ctrl] to enable the Auto Tach Switchover feature. Units:
Default:
Min/Max: R/S
10.00
0.00 / Calculated RW Real
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No. Display Name
Full Name
Description Values
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