Rockwell Automation 20D PowerFlex 700S AC Drives with Phase II Control Reference Manual - Manual (Page 155)

Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011 155
Detailed Drive Operation Chapter 1
normally be set to less than 1/3 speed regulator bandwidth, or for the desired
response. Set [Servo Lock Gain] to zero to disable servo lock.
Speed Regulator Gains
The speed regulator gains determine the response of the speed regulator. See
Basic Tuning with a Gear Box or Belt on page 158 for speed regulator tuning
guidelines.
Speed Regulation Anti-Backup
Parameter 84 [SpdReg AntiBckup] modifies the drive's response to the speed
reference. With the value minimized, the drive will follow the reference very
closely, minimizing error, which is desirable for typical process applications.
85
ServoLck
ks
s
Servo Lock Gain
to Speed Gains from Speed
Error Filter
+
+
84
81
82
153 18
102
103
86
Droop
101
P Gain
kp
Limit
Spd Reg P Gain*
Spd Reg I Gain
0
1
87
303
Spd Reg Pos Lim
Spd Reg Neg Lim
FeedFwd
nff From Speed Reference
To Speed
Regulator Output
From Speed Error
Control Options
(Jog -NoInteg)
Logic Command
(SReg IntgHld)
(SReg IntgRst)
Control Options
(SpdRegPreset)
SReg Trq Preset
Motor Torque Ref
Spd Reg Droop
SpdReg Integ Out
-
+ +
+
+
-
153 12
151 05
06
I Gain
ki
s
SpdReg AntiBckup