ABB ACQ810, Firmware Manual

Page: 176 / 376

176 Parameters
22.09 Shape time dec2 Defines the shape of the deceleration ramp at the end of the
deceleration. See parameter
22.06 Shape time acc1 .
0.000 … 1800.000 s Ramp shape at end of deceleration. 1000 = 1 s
22.12 Em stop time Defines the time inside which the drive is stopped if an
emergency stop OFF3 is activated (i.e. the time required for
the speed to change from the speed value defined by
parameter
19.01 Speed scaling to zero). Emergency stop
activation source is selected by parameter 10.13 Em stop
off3 . Emergency stop can also be activated through fieldbus
( 02.22 FBA main cw or 02.36 EFB main cw ).
Note: Emergency stop OFF1 uses the active ramp time.
0.000 … 1800.000 s Emergency stop OFF3 deceleration time. 1000 = 1 s
23
23 Speed ctrl Speed controller settings.
23.01 Proport gain Defines the proportional gain (K
p
) of the speed controller.
Too large a gain may cause speed oscillation. The figure
below shows the speed controller output after an error step
when the error remains constant.
If gain is set to 1, a 10% change in error value (reference -
actual value) causes the speed controller output to change
by 10%.
0.00 … 200.00 Proportional gain for speed controller. 100 = 1
No. Name/Value Description FbEq
Gain = K
p
= 1
T
I
= Integration time = 0
T
D
= Derivation time = 0
%
Controller
output = K
p
× e
Time
e = Error value
Controller output
Error value