Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual - Manual (Page 124)

124 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Chapter 1 Detail Drive Configuration and Operation
This parameter has no affect on the drive's response to load changes. The
recommended setting is 0.1 to 0.5.
The following is an example of how the anti-backup affects the speed regulator’s
response.
Proportional Gain
The filtered speed error (after the servo lock is added and the anti-backup is
subtracted) is sent to the proportional gain block. The proportional gain
determines how much of a speed error occurs during a load transient.
Parameter 81 [Spd Reg P Gain] sets the proportional gain of the speed regulator.
It's value is automatically calculated based on the bandwidth setting in parameter
90 [Spd Reg BW] and parameter 9 [Total Inertia]. Proportional gain may be
manually adjusted by setting [Spd Reg BW] to a value of zero. Units are (per unit
torque) / (per unit speed). For example, when [Spd Reg P Gain] is 20, the
proportional gain block will output 20% motor rated torque for every 1% error
of motor rated speed.
Adjustments to parameters 474 [Freq Reg We BW] and 475 [Freq Reg Wr BW]
may be necessary when using sensorless feedback.
Integral Gain
The speed droop is subtracted from the filtered speed error (after the servo lock is
added and the anti-backup is subtracted). This signal is then sent to the integral
84
FeedFwd
nff from
Motor Speed Ref
SpdReg AntiBckup
81
P Gain
kp
Spd Reg P Gain