Lenze Drive PLC Developer Studio 9300 Servo PLC (V8.x) - Manual (Page 66)

2.12 MCTRL_MotorControl (node number 131)
9300 Servo PLC
System blocks
2−52
L
9300 Servo PLC EN 5.0
2.12.7 Speed controller
The speed controller is designed as an ideal PID controller.
Parameter setting
By selecting a motor under C0086 the parameters are preset, making most adaptations to the
application unnecessary.
·
The proportional gain V
p
can be set under C0070:
– Enter approx. 50 % of the speed setpoint (100 % = 16384 = N
max
).
– Increase C0070 until the drive becomes unstable (pay attention to motor noise)
– Reduce C0070 until the drive runs stable again.
– Reduce C0070 to approx. half the value.
Code LCD Possible settings Info
Lenze Selection
C0070 Vp speed CTRL à Proportional gain of speed controller
(V
pn
)
à Dependent on C0086
·
If C0086 is changed, the value is
reset to the assigned Lenze
setting.
0.0 {0.5} 255.0
·
The reset time T
n
can be set under C0071:
– Reduce C0071 until the drive becomes unstable (pay attention to motor noise).
– Increase C0071, until the drive runs stable again.
– Increase C0071 to approx. twice the value.
Code LCD Possible settings Info
Lenze Selection
C0071 Tn speed CTRL à Reset time of speed controller (T
nn
)
à Dependent on C0086
·
If C0086 is changed, the value is
reset to the assigned Lenze
setting.
1.0 {0.5 ms} 600.0
>512 ms = switched off
·
The derivative gain T
d
can be set under C0072:
– Increase C0072 during operation until the drive reaches an optimum control performance.
Code LCD Possible settings Info
Lenze Selection
C0072 Td speed CTRL 0.0 Derivative gain of speed controller
(T
dn
)
0.0 {0.1 ms} 32.0
·
Via MCTRL_nNAdapt_a the proportional gain V
p
can be changed using the PLC program:
V
p
= MCTRL_nNAdapt_a [%]
ž
C0070
Default: MCTRL_nNAdapt_a= 100 %
ð
V
p
= 100 %
ž
C0070 = C0070