Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual - Manual (Page 128)

128 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Chapter 1 Detail Drive Configuration and Operation
2. Set the desired bandwidth in parameter 90 [Spd Reg BW]. Do not exceed
the bandwidth limit of curve 1 in the following chart (based on the ratio of
motor inertia to system inertia).
3. Make parameter 89 [Spd Err Filt BW] = 5 * parameter 90 [Spd Reg BW].
Note: For speed regulator bandwidths up to approximately 200 rad/sec,
parameter 89 [Spd Err Filt BW] can be left at the factory default of 700
rad/sec starting with v2.003 firmware because of the addition of a finite
infinite response (FIR) filter.
4. Turn-off Lead Lag filters; parameter 93 [SregFB Filt Gain] =1, parameter
95 [SregOut FiltGain] = 1.
5. Run the drive and observe its performance, particularly gear noise
(chatter).
6. If performance is smooth throughout the speed range, the test is complete
and no further adjustments are necessary. If gear noise or chatter is present,
reduce parameter 90 [Spd Reg BW] or progressively turn on the lead lag
filters a through d, with d being the most aggressive. Stop when
performance is sufficiently smooth:
a. Parameter 95 [SregOut FiltGain] = 0.7; parameter 96 [SregOut Filt
BW] = 35
b. Parameter 95 [SregOut FiltGain] = 0.5; parameter 96 [SregOut Filt
BW] = 20
c. Parameter 95 [SregOut FiltGain] and parameter 93 [SRegFB Filt Gain]
= 0.7;
Parameter 94 [SReg FB Filt BW] and parameter 96 [SregOut Filt BW]
= 35