Rockwell Automation 1756-DMF30 ControlLogix Drive Module - Manual (Page 113)

Publication 1756-UM522B-EN-P - February 2003
1756-DMD30 Specific Information B-33
85 Servo Lock Gain
Sets the gain of an additional integrator in the speed regulator.
The effect of Servo Lock is to increase stiffness of the speed
response to a load disturbance. It behaves like a position
regulator with velocity feed forward, but without the pulse
accuracy of a true position regulator. The units of Servo Lock
are the same as a position regulator with units in rad/sec.
Gain should normally be set to less than 1/3 speed regulator
bandwidth, or for the desired response. Set to zero to disable
Servo Lock. Units:
Default:
Min:
Max:
Type:
File:
Group: /Sec
0
0
300
Linkable, Read-Write, Floating Point
Speed Control
Regulator
86 Spd Reg Droop
Specifies the amount of base speed that the speed reference is
reduced when at full load torque. Use the droop function to
cause the motor speed to droop with an increase in load. The
units are per unit speed / per unit torque. Units:
Default:
Min:
Max:
Type:
File:
Group: P.U.
0
0
0.25
Linkable, Read-Write, Floating Point
Speed Control
Regulator
87 SReg Torq Preset
When the drive is not enabled, this parameter presets
integrator output parameter 101 [SpdReg Integ Out] to
specified torque level. This ensures that the torque command
will be at the preset value when the drive is enabled and run.
Parameter 80 [Speed Reg Ctrl] bit 1 [Preset Sel] = 0 will permit
this preset. Units:
Default:
Min:
Max:
Type:
File:
Group: P.U.
0
-8
8
Linkable, Read-Write, Floating Point
Speed Control
Regulator
89 Spd Err Filt BW
Sets the bandwidth of a 2nd order Butterworth low pass filter,
which reduces quantization noise. The units are rad/sec. A
value of 0 will disable the filter. The value should be greater
than 6 times the value of parameter 90 [Spd Reg BW]. Units:
Default:
Min:
Max:
Type:
File:
Group: R/S
500
0
3500
Linkable, Read-Write, Floating Point
Speed Control
Regulator
90 Spd Reg BW
Sets the bandwidth of the speed regulator 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 set point. A change to this parameter
will cause an automatic update of parameters 81 [Spd Reg P
Gain] and 82 [Spd Reg I Gain]. To disable the automatic gain
calculation, set this parameter to a value of zero. Units:
Default:
Min:
Max:
Type:
File:
Group: R/S
10
0
500
Linkable, Read-Write, Floating Point
Speed Control
Regulator
91 Spd Reg Damping
Sets the damping factor of the drive's characteristic equation
and factors in the calculation of the integral gain. A damping
factor of 1.0 is considered critical damping. Lowering the
damping will produce faster load disturbance rejection, but
may cause a more oscillatory response. When parameter 90
[Spd Reg BW] is set to zero, damping factor has no effect. Default:
Min:
Max:
Type:
File:
Group: 1
0.5
3
Linkable, Read-Write, Floating Point
Speed Control
Regulator
No. Name
Description Values