Rockwell Automation 23P PowerFlex Digital DC Drive User Manual
Page 150
150
Rockwell Automation Publication 20P-UM001K-EN-P - July 2014
Chapter 3
Programming and Parameters
SPEE
D C
O
MMAND
Sp
ee
d Regula
tor
435
[Act Spd Reg BW]
Displays the actual speed regulator bandwidth or crossover frequency. It
represents the bandwidth in Par 434 [Spd Reg BW] after the maximum
bandwidth limits have been applied.
Note: This parameter was added for firmware version 6.001.
Default:
Min/Max:
Units:
Read Only
0.0 / 100.0
rad / sec
Real
434
436
[Spd Reg Damping]
Sets the damping factor of the drive’s characteristic equation and factors in
the calculation of the integral gain set in Par 88 [Spd Reg Ki]. A factor of 1.0 is
considered critical damping. When Par 434 [Spd Reg BW] is set to zero, the
damping factor has no effect on drive operation.
Note: This parameter was added for firmware version 6.001.
Default:
Min/Max:
1.0
0.5 / 30.0
Real
444
[Spd Reg P Filter]
Time constant used by the filter for the Speed Feedback circuit. Filtering of
the high frequency components of the speed feedback signal is useful in the
case of elastic coupling between the motor and load (i.e., joints or belts).
Note: This parameter was renamed for firmware version 4.001.
Default:
Min/Max:
Units:
0
0 / 1000
ms
16-bit
Int
121,
122
445
[Spd Up Gain Pct]
The Speed Up function gain as a percentage of Par 446 [Speed Up Base].
Note: See Speed Up Function on page
for more information.
Default:
Min/Max:
Units:
0.00
0.00 / 100.00
%
Real
446
446
[Speed Up Base]
The Speed Up function maximum gain. This value corresponds to 100% of Par
445 [Spd Up Gain Pct].
Note: See Speed Up Function on page
for more information.
Default:
Min/Max:
Units:
1000.00
0.00 / 16000.00
ms
Real
445
447
[Speed Up Filter]
The time constant of the filter for the D (derivative) component of the Speed
Up function.
Note: See Speed Up Function on page
for more information.
Default:
Min/Max:
Units:
0
0 / 1000
ms
16-bit
Int
448
[SpdReg BW Bypass]
Sets the bandwidth of the speed regulator, when bypassed, in rad/sec.
Bandwidth is also referred to as the crossover frequency. Small signal time
response is approximately 1/BW and is the time to reach 63% of setpoint. A
change to this parameter will cause an automatic update of Pars
459 [SpdReg Kp Bypass] and 460 [SpdReg Ki Bypass]. To disable the
automatic gain calculation, set this parameter to a value of zero.
Note: This parameter was added for firmware version 6.001.
Default:
Min/Max:
Units:
10.0
0.0 / 100.0
rad / sec
Real
459
[SpdReg Kp Bypass]
The proportional gain (K
P
) of the speed regulator when an encoder or
tachometer feedback signal is changed to armature feedback (Par 458
[SpdReg FB Bypass] = 1 “Enabled”). This parameter can only be modified
when Par 448 [SpdReg BW Bypass] is set to zero.
Note: Units were changed from “%” to “none” for firmware revision 6.001.
Default:
Min/Max:
0.90 x P459
max
0.01 / Based on drive current rating
Real
458
460
[SpdReg Ki Bypass]
The integral gain (K
I
) of the speed regulator when an encoder or tachometer
feedback signal is changed to armature feedback (Par 458
[SpdReg FB Bypass] = 1 “Enabled”). This parameter can only be modified
when Par 448 [SpdReg BW Bypass] is set to zero.
Note: Units were changed from “%” to “sec
-1
” for firmware revision 6.001.
Default:
Min/Max:
Units:
0.30
0.00 / 100.00
sec
-1
Real
458
643
[SpdReg AntiBckup]
Allows control of over-shoot/under-shoot in the step response of the speed
regulator. Over-shoot/under-shoot can be effectively
eliminated with a setting of 0.3, which will remove backup of the motor shaft
when zero speed is reached. This parameter has no affect on the drive's
response to load changes. A value of zero disables this feature.
Note: This parameter was added for firmware version 4.001.
Default:
Min/Max:
0.0
0.0 / 0.50
Real
1016 [SpdFuncSelect]
Selection of the “Speed Up” or “Inertia/Loss compensation” function.
Notes: See Speed Up Function on page
for more information. Option 2
“Off” added for firmware version 4.001.
Default:
Options:
2 =
0 =
1 =
2 =
“Off”
“Speed Up”
“Inertia/loss”
“Off”
16-bit
Int
444,
445,
447,
1012,
1013,
1014,
1015
Fil
e
Gr
oup
No
.
Parameter Name & Description
See
page 114
for symbol descriptions
Values
Da
ta
T
yp
e
Rela
ted
A
A
A
A
A
A
A
A
A
A