Parameters and firmware blocks
162
Group
26 SPEED ERROR
Speed error is determined by comparing the speed reference and speed feedback.
The error can be filtered using a first-order low-pass filter if the feedback and
reference have disturbances. In addition, a torque boost can be applied to
compensate acceleration; the torque is relative to the rate of change (derivative) in
the speed reference and inertia of the load. The speed error value can be supervised
using the window function.
The signals used as speed reference are (see also parameter group
on page
•
(speed, “min” and “max” control modes)
•
(position, synchron and homing control modes)
•
(profile velocity mode).
26.05 SPEED STEP
26.06 SPD ERR FTIME
20.01 MAXIMUM SPEED
20.02 MINIMUM SPEED
T
AccCom
26.08 ACC COMP DER TIME
26.09 ACC COMP FTIME
d
dt
0
06.02 STATUS WORD 2 bit 14
RAMP OUT 0
06.02 STATUS WORD 2 bit 12
RAMP IN 0
+
-
26.10 SPEED WIN FUNC
26.11 SPEED WIN HI
26.12 SPEED WIN LO
4.01 SPEED REF PCTRL
26.04 SPEED FEED PCTRL
1.01 SPEED ACT NCTRL
OPMODE =
POSITION SYNCRON
03.04 SPEED REF NCTRL
SPEED
POSITION
SYNCHRON
HOMING
PROF VEL
6.12 OP
MODE ACK
+
3.06 SPEED ERROR FILT
3.07 ACC COMP TORQ
Summary of Contents for ACSM1 Series
Page 1: ...ABB motion control drives Firmware manual ACSM1 motion control program ...
Page 4: ......
Page 34: ...Drive programming using PC tools 34 ...
Page 86: ...Drive control and features 86 ...
Page 265: ...Parameters and firmware blocks 265 1 100 us 100 µs 2 1 ms 1 ms 3 50 ms 50 ms ...
Page 302: ...Parameter data 302 ...
Page 422: ...Application program template 422 ...
Page 430: ...Appendix A Fieldbus control 430 ...
Page 500: ...Appendix D Application examples 500 ...
Page 508: ...Appendix E Control chain and drive logic diagrams 508 ...
Page 510: ...3AFE68848270 REV H EN 2015 06 26 Contact us www abb com drives www abb com drivespartners ...