Rockwell Automation WebPak 3000 DC Drive Application Workbook Version 1.1 - Manual (Page 25)

Configuring the Speed Loop 3-15
þ If SPEED PROFILER ENABLE (P.127) = ENABLE :
▲ Set SPD LOOP PI PROP GAIN (P.211). This value is determined during
speed loop self-tuning.
▲ Set SPD LOOP PI LEAD FREQ (P.212). This value is determined during
speed loop self-tuning.
▲ Set SYSTEM INERTIA (P.222). System inertia (called JBAR in the gain
profiler block) is the time, in seconds, to accelerate an empty core to the
motor base speed parameter,
BASE SPEED (P.017), which is the speed of
the DC motor when full field strength and full rated armature voltage are
applied. System inertia can be determined by running self-tuning with
an empty core load. Note that self-tuning will overwrite any values
entered manually.
þ If SPEED PROFILER ENABLE (P.127) = DISABLE :
The values calculated during self tuning are used for SPD LOOP PI PROP
GAIN (P.211) and SPD LOOP PI LEAD FREQ (P.212).
The calculated values for proportional gain ( KP ) and integral gain ( WLD )
output from the profiler will remain SPD LOOP PI PROP GAIN (P.211) and SPD
LOOP PI LEAD FREQ (P.212), and will use the values determined by the
speed loop self-tuning test.
3.5.1 The PI Block
SPD LOOP ERROR (P.297) is the signal input to the PI amplifier and is the difference
between speed reference and speed feedback.
SPD LOOP REFERENCE (P.295) is converted to a rotational speed using a multiplier block
before it is compared to the speed loop feedback signal.
þ
To configure the PI block:
▲
Set POS CURRENT LIMIT SEL (P.223). The choices are:
REGISTER - POSITIVE CURRENT LIM (P.005) is used as the positive current limit.
PARALLEL OCL - Sets the limits to the value of OCL PARALLEL OUT (P.816) which
is the vernier signal of the selected outer control loop.
NETW IN REG 1, 2, 3 - Sets the limit values in network registers if a network
card is installed and the control source is NETWORK (P.000 = NETWORK ).
þ If POS CURRENT LIMIT SEL (P.223) = REGISTER :
▲ Set POSITIVE CURRENT LIM (P.005).
Range: 0.10 to 128.00 P.211 =
Range: 0.00 to 141.37 RAD / S P.212 = RAD / S
Range: 0.05 to 65.20 SECONDS P.222 = SECONDS
Range: REGISTER , PARALLEL OCL , NETW IN REG 1, 2, 3 P.223 =
Range: 0 to MAXIMUM CURRENT (% FLA ) P.005 = % FLA