27 calculate speed controller parameters, Calculate speed controller parameters, 5drive interface – Lenze E94AxPExxxx User Manual
Page 123
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
123
5
Drive interface
5.2
Device commands
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.2.27
Calculate speed controller parameters
The device command
= "78: Calculate speed controller parameters" is used to calculate the
gain, reset time, and rate time of the speed controller.
Precondition: The moments of inertia for the motor (
) and load (
) have been
parameterised correctly before.
• The calculation is carried out according to the following formulas, taking the actual speed value
filter time constant into consideration (
):
• After the device command has been executed successfully (see status in
), the calculated
values are set in the corresponding codes:
•
: Speed controller gain
•
: Speed controller reset time
•
: Speed controller rate time
• In the event of an error, these codes are not altered.
Possible status displays for this device command
Related device commands
Calculate current controller parameters
Note!
The device command is no identification procedure for determining the speed controller
parameters!
Status (
Meaning
5145858 Device command in process
5111808 Device command executed successfully
5111809 General error
5151540 At least one calculated value is outside the valid setting range.
Gain
Moment of inertia of motor+load
4 Actual speed value filter time constant 500 μs
+
(
)
⋅
----------------------------------------------------------------------------------------------------------------------------------------- 2π
60
------
⋅
=
Reset time
4
2
Actual speed value filter time constant 500 μs
+
(
)
⋅
=
Rate time
0 ms
=