Rockwell Automation 20D PowerFlex 700S AC Drives with Phase II Control Reference Manual User Manual
Page 159
Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011
159
Detailed Drive Operation Chapter 1
where Hp is the nameplate horsepower of the motor and RPM is the base
motor speed of the motor.
System Inertia (parameter 9) is determined by performing the inertia test
with the load coupled, or the value (in seconds) can be calculated using the
formulas above if WK
2
is known for the system.
2.
Set the desired bandwidth in parameter 90 [Spd Reg BW]. Do not exceed
the bandwidth limit of curve 1 on
(based on the ratio of motor
inertia to system inertia).
3.
Make parameter 89 [Spd Err Filt BW] = 5 x parameter 90 [Spd Reg BW].
Note: For speed regulator bandwidths up to approximately 200 radians/
second, parameter 89 [Spd Err Filt BW] can be left at the factory default of
700 radians/second starting with v2.003 firmware because of the addition
of an FIR (finite infinite response) 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 tuning test is
done. If gear noise or chatter is present continue with step 7.
7.
Reduce parameter 90 [Spd Reg BW] or progressively turn on the “Lead-
Lag” filters a through d (below), with d being the most aggressive. Stop
when the drive is sufficiently smooth:
a. Parameter 95 [SRegOut FiltGain] = 0.7; parameter 96 [SReg Out Filt
BW] = 35
b. Parameter 95 [SRegOut FiltGain] = 0.5; parameter 96 [SReg Out 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 [Sreg
Out Filt BW] = 35
d. Parameter 95 [SRegOut FiltGain] and 93 [SRegFB Filt Gain] = 0.5;
parameter 94 [SReg FB Filt BW] and 96 [SReg Out Filt BW] = 20
8.
If gear noise or chatter is still present after turning on the filters, repeat
steps 2 through 7 with a lower speed regulator BW. If the desired
bandwidth cannot be achieved due to gear noise or chatter, follow the
procedure for