Manual

Publication 1756-UM522B-EN-P - February 2003
B-4 1756-DMD30 Specific Information
Speed Control - Regulator
Spd Reg BW Spd Reg Damping SpdReg P Gain Mx Motor Inertia To tal Inertia
90 92 91
2190 2189
set param 90 = 0 to manually adjust param 81 & 82
*
Lead Lag
(kn * s) + wn
s + wn
25 26
22
+
X
23 24
0
Autotune
Bypass
19
157 5
8
157 04
30 31
Lead Lag
(kn * s) + wn
s + wn
93 94
89
+
85
84
81 82
80 01
153 12
+
102 103
95 96
157 08
0
86
Speed Control - Regulator
(2 ms)
Droop
47
318
301
71
300
100
101
302
Ovr Smpl
4x
0
1
157 06
0
Logic Ctrl State
Atune Spd Ref
Limit
Logic Ctrl State
(Inrta Tst En)
Logic Ctrl State
(CurrLim Stop)
Speed Trim 3
SpdTrim 3 Scale
Spd Trim1 SpdRef
Speed Trim 2
STrim2 Filt Gain
SpdTrim2 Filt BW
ServoLck
ks
s
P Gain
kp
I Gain
ki
s
80 02 80 03
Limit
Spd Reg P Gain
Spd Reg I Gain
0
1
87
303
Spd Reg Pos Lim
Spd Reg Neg Lim
Lead Lag
(kn * s) + wn
s + wn
FeedFwd
nff
SReg FB Filt Gain
SReg FB Filt BW
Filtered SpdFdbk
Motor Spd Fdbk
Motor Speed Ref
Speed Error
SpdReg AntiBckup
Spd Err Filt BW
Servo Lock Gain
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
Spd Reg Droop
0
1
SRegOut FiltGain
SReg Out Filt BW
Logic Ctrl State
(Spd Reg En)
Spd Reg PI Out
Posit Spd Output
*
from Speed Control
- Reference [2H4]
from Position
Control [5H3]
to Torque Control
[8B1]
2
nd
Order
LPass
Filter
SpdReg Integ Out
- + + -
+ -
1 2 3 4 5 6
BA
D
C
FE HG I
(J Tst FulSpd) (Spd Reg En)
1
from Feedback [9H2]