Rockwell Automation 23P PowerFlex Digital DC Drive User Manual
Page 301
Rockwell Automation Publication 20P-UM001K-EN-P - July 2014
301
Application Notes
Appendix C
Manually Tuning the Speed
Regulator for Firmware
Version 6.xxx
The calculation of Speed Loop gains was simplified in firmware version 6.
xxx so
that they are similar to other PowerFlex Architecture class drives. The Speed
Regulator gains (Kp and Ki) are now automatically determined by the value of
parameter 434 [Spd Reg BW]. The Speed Regulator gains can still be entered
manually by setting P434 [Spd Reg BW] to 0. Note that there is also a separate
bandwidth parameter for bypass mode, P448 [Spd Reg BW Bypass]. This
parameter affects P459 [Spd Reg Kp Bypass] and P460 [Spd Reg Ki Bypass].
1.
Before installing PowerFlex DC version 6.
xxx firmware, save the current
drive configuration data using the HIM CopyCat function, or
DriveExplorer or DriveExecutive software.
2.
Record the following parameter values:
3.
Download the PowerFlex DC version 6.
xxx firmware. This will result in a
F100 “EEPROM Error” fault and all parameters reset to their factory
default values.
4.
Download the saved HIM CopyCat or DriveExecutive configuration data
to the drive. A error message(s) will appear due to the change in major
revision number.
5.
Acknowledge the error/fault messages by selecting OK (DriveExplorer or
DriveExecutive) or pressing the Esc key (HIM).
6.
Verify that P1013 [Torque Const] equals the value recorded above.
7.
Enter the values recorded above for P1030 [Spd Tune Inertia] and P1031
[Spd Tune Friction] into the drive parameters P1014 [Inertia] and P1015
[Friction], respectively.
8.
Verify that P1034 [Spd Reg Kp Pct] equals the value recorded above for
P87 [Spd Reg Kp Pct]. If they are not equal, P434 [Spd Reg BW] can be
adjusted to make P1034 [Spd Reg Kp Pct] the same as the original value
for P87 [Spd Reg Kp Pct], recorded above.
9.
Verify that P1035 [Spd Reg Ki Pct] equals the value recorded above for
P88 [Spd Reg Ki Pct]
The Speed Regulator performance should now be the same as it was in the
previous firmware version. If desired, the Speed Regulator autotune (see page
) can be executed to have the drive automatically determine the Speed
Regulator gain values.
Parameter
Value
87 [SpdReg Kp Pct]
88 [SpdReg Ki Pct]
1013 [Torque Const]
1030 [Spd Tune Inertia]
1031 [Spd Tune Friction]