Rockwell Automation 1391 USER MNL/DIGITAL AC SERVO DR - Manual (Page 55)

Chapter 6
Programming
6-18
Parameter 169 – Kl Velocity Loop (Intg Gain ki)
This parameter controls the integral error gain of the velocity regulator. For
example, if KI = 8, then velocity (1000 rpm) error for 1 second will
produce a (rated motor) current torque reference.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 0
Maximum Value: 24000
Default Value: 6667
Parameter 170 – Feed Forward Gain (Feed Frwd Gain)
Controls the feedforward gain of the velocity regulator. Setting this to a
value greater than zero reduces the velocity feedback overshoot in response
to a step change in the velocity reference. The velocity loop response to a
load disturbance is unaffected by the Feed Forward Gain.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 0
Maximum Value: 0.39
Default Value: 0
Parameter 171 – Static Gain/Droop
Specifies the velocity regulation tolerance in rpm.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 0 rpm
Maximum Value: 15.6 rpm
Default Value: 1 rpm
Parameter 172 – Velocity Loop Integrator Preset (Intg Prest Val)
The velocity loop integrator will be set to the value in this parameter when
the drive transitions into the run state.
Parameter Type: View/modify in Maintenance level
Minimum Value: –200% rated motor current
Maximum Value: +200% rated motor current
Default Value: 0
Parameter 181 – Motor Inertia
Displays the time it will take for the selected motor to reach 1000 rpm at
100% of rated torque. This assumes that the motor has 0.2 times the motor
inertia connected to it, representing typical system inertia (couplings, etc.)
Parameter Type: View/modify in Maintenance level
Minimum Value: 0 ms
Maximum Value: 500 ms
Default Value: Set by “Setup drive with motor data” routine
Parameter 182 – Desired Velocity Bandwidth (Desired Vel BW)
This is associated with the Auto Tune Calculate function and allows the
user to enter a desired velocity bandwidth less than or equal to the
Maximum Bandwidth (parameter 68) as calculated by the auto tune cycle.
Parameter Type: View/modify in Modify level and Maintenance level
Minimum Value: 1 rads/second
Maximum Value: 250 rads/second
Default Value: 200 rads/second – To convert rads/second to Hertz, divide by 6.28.