Rockwell Automation 1395 Digital DC Drive FRN 5-10.10/9.30 - Manual (Page 213)

Chapter 7
Programming Parameters
7-47
Parameter 658 – Droop Filter (Gain) [Droop Filter]
Internal units : 4096 = 1000h = 100% droop filtering
Programming Terminal units: Percent of maximum Droop filtering
Minimum Value: 0%
Maximum Value: 100.0%
Default Value: 93%
Description: This parameter determines the gain of a single pole
filter used in the droop. A filter is used to correct for stability
problems caused by subtracting a function of velocity error from the
velocity reference. 100% Droop filtering provides the maximum
Droop filtering effect. 0% Droop filter value will disable the entire
Droop function.
Parameter 659 – KI Velocity Loop [KI Velocity Loop]
Internal units : None
Programming Terminal units: None
Minimum Value: 0
Maximum Value: 32767
Default Value: 256
Description: This parameter controls the integral error gain of the
velocity regulator. For example: If KI = 8, then 1 pu Velocity Error
for 1 second will produce 1 pu Torque Reference.
Parameter 660 – KP Velocity Loop [KP Velocity Loop]
Internal units : None
Programming Terminal units: None
Minimum Value: 0
Maximum Value: 1600
Default Value: 64
Description: This parameter controls the proportional error gain of
the velocity regulator. For example: If KP = 8, then 1 pu Velocity
Error will produce 1 pu Torque Reference.
Parameter 661 – KF Velocity Loop [KF Velocity Loop]
Internal units : none
Programming Terminal units: none
Minimum Value: 0
Maximum Value: 65535
Default Value: 65535
Description: This parameter controls feed forward gain of the
velocity regulator.
Setting the KF gain to a value less than one reduces velocity feedback
overshoot in response to a step change in velocity reference. The
velocity loop response to a step change in load is unaffected by the
KF term.