Datasheet

6.6. Tuning the Speed Pi Parameters
Speed PI proportional gain (par. 13, “Speed Loop Kp”) and integral gain (par. 14, “Speed Loop Ki”) should be
tuned in the real application and under load conditions.
As starting values, low values can be chosen; they can be increased at medium working speed until instability
arises; (high frequency instability is related to the proportional value too high, low frequency instability is related to
integral value too high). When instability arises, the value should be halved. Some kind of tuning of speed
parameters can be performed using high values of acceleration ramp, and imposing speed reference variations, as
done with the current PIs.
The PI calibration procedure should be iterated till the desired system response is reached. The speed reference
could be changed depending on the motor/application. You can find below two graphs indicating an example of
tuning procedure; this procedure should be made using the real working environment.
Speed parameters can influence the success of the start-up phase: if the algorithm fails in this phase, giving alarm
n°3, try modifying the speed proportional gain first, and then the integral gain.
Speed Pi Integral calibration Flow Chart Speed Pi Proportional calibration Flow Chart