8.3.2.3 Motion PI Control
When speed reference speed is higher than start speed, then Kp and Ti parameters are selected form
[C07]-[C12] parameters according to reference speed. [C07] and [C08] is used when the reference speed
is lower than [C11] PI Low Speed; [C09] and [C10] is used when the reference speed is higher than [C12]
PI High Speed. Between C11 and C12 reference speed, Kp and Ti parameters are changes linearly.
C07 LOW SPEED Kp
Min: 0.1
Max: 100
Default: 24
Kp coefficient when the system speed is lower than [C11] parameter.
C08 LOW SPEED Ti
Min: 0 ms
Max: 9999 ms
Default: 300 ms
Ti coefficient when the system speed is lower than [C11] parameter.
C09 HIGH SPEED Kp
Min: 0.1
Max: 100
Default: 24
Kp coefficient when the system speed is higher than [C12] parameter.
C10 HIGH SPPED Ti
Min: 0 ms
Max: 9999 ms
Default: 300 ms
Ti coefficient when the system speed is higher than [C12] parameter.
C11 PI LOW SPEED
Min: 0 m/s
Max: 5 m/s
Default: 0.3 m/s
When system speed is between value in [C11] and [C12] parameters, Kp and Ti coefficients are selected
according to system speed shown in Figure 8.11. When system speed is below [C11], system use [C07]
and [C08] coefficient parameters.
C12 PI HIGH SPEED
Min: 0 m/s
Max: 5 m/s
Default: 0.6 m/s
When system speed is between [C11] and [C12] parameters value, Kp and Ti coefficients are selected
according to system speed shown in Figure 8.11. When system speed is above [C12], system use [C09]
and [C10] coefficient parameters.
C21 CURRENT-TORQUE Kp
Min: 0.1
Max: 10
Default: 1
Kp coefficient of the system current and torque control components.
C22 CURRENT-TORQUE Ti
Min: 10 ms
Max: 9999 ms
Default: 100 ms
Ti coefficient of the system current and torque control components.
F/7.5.5.02.95 R:1
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AE-LIFT
