Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual User Manual
Page 125
Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
125
Detail Drive Configuration and Operation
Chapter 1
gain block. The integral gain block outputs a torque command relative to the
error integrated over a period of time.
Parameter 82 [Spd Reg I Gain] sets the integral gain of the speed regulator. It's
value is automatically calculated based on the bandwidth setting in [Spd Reg
BW] and [Total Inertia]. Integral gain may be manually adjusted by setting [Spd
Reg BW] to a value of zero. Units are (per unit torque/sec) / (per unit speed).
For example, when [Spd Reg I Gain] is 50 and the speed error is 1%, the integral
output will integrate from 0…50% motor rated torque in 1 second.
Adjustments to parameters 474 [Freq Reg We BW] and 475 [Freq Reg Wr BW]
may be necessary when using sensorless feedback.
When parameter 153 [Control Options] bit 12 - “Jog-NoInteg” is turned on, this
tells the speed regulator not to use the integral gain during jog commands.
When Parameter 80 [Speed Reg Ctrl] bit 2 - “Integ Hold” is turned on, the
Integrator holds its output at the present level until the bit is turned off again.
When [Speed Reg Ctrl] bit 3 - “Integ Reset” is turned on, the output of the
integrator is set to 0. When the “Integ Reset” bit is turned back off, the integrator
output starts integrating up again from 0.
When [Speed Reg Ctrl] bit 1 - “Preset Sel” is turned on, the value in parameter
303 [Motor Torque Ref ] is added to the integrator output. When “Preset Sel” is
turned off, parameter 87 [Sreg Torq Preset] (default of 0 per unit) is added to the
integrator output.
Parameter 101 [SpdReg Integ Out] contains the value of the torque output from
the integrator. This parameter is in per unit so that a value of 1 equals rated
motor torque.
82
80
01
153
12
101
I Gain
ki
s
80
02
80
03
Spd Reg I Gain
0
1
87
303
Control Options
(Jog -NoInteg)
Speed Reg Ctrl
(Integ Hold)
Speed Reg Ctrl
(Integ Reset)
Speed Reg Ctrl
(Preset Sel)
SReg Torq Preset
Motor Torque Ref
SpdReg Integ Out