Baldor 23H Series, Installation & Operating Manual, Page: 97 / 127

Speed Prop Gain Parameter
This parameter is located in the Level 1, Brushless Control Block. The Speed Prop Gain parameter
is normally preset or auto-tuned. This gain may be increased or decreased to suit the application.
Increasing the Speed Prop Gain parameter will result in faster response, excessive proportional gain
will cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause slower
response and decrease overshoot and ringing caused by excessive proportional gain.
Speed Int Gain Parameter
This parameter is located in the Level 1, Brushless Control Block. The Speed Int Gain parameter in
hertz, as discussed under PI Controller later in this section, may be set at any value from zero to 10
hertz.
Setting the Speed Int Gain parameter - 0 removes integral compensation, resulting in a proportional
rate loop. This selection is ideal for systems where overshoot must be avoided and substantial
stiffness (ability of the controller to maintain commanded speed despite torque loads) isn't required.
Increasing values of the Speed Int Gain parameter increases the low frequency gain and stiffness of
the controller, an excessive integral gain setting will cause overshoot for transient speed commands
and may lead to oscillation. Typical setting is 4 hertz. If the Speed Prop Gain parameter and the
Speed Int Gain parameter are set too close together, and overshoot condition can also occur.
CAUTION: DO NOT SET THE SPEED INT GAIN PARAMETER ABOVE 10 HERTZ OR
SUBSTANTIAL OVERSHOOT WILL OCCUR.
To manually tune the speed controller:
1. Set the speed Int Gain parameter = 0 (remove integral gain).
2. Increase the Speed Prop Gain parameter setting until adequate response to step speed
commands is attained.
3. Increase the Speed Int Gain parameter setting to increase the stiffness of the drive.
NOTE: IT IS CONVENIENT TO MONITOR SPEED STEP RESPONSE WITH A STRIP
CHART RECORDER OR STORAGE OSCILLOSCOPE CONNECTED TO J1-6
OR -7 WITH LEVEL 1, OUTPUT BLOCK ANALOG OUT #1 OR #2 SET TO
ABS SPEED, 0 VDC = ZERO SPEED. SEE SECTION 2 FOR A DISCUSSION
OF ANALOG OUTPUTS.
4-14 DIAGNOSTIC INFO AND TROUBLESHOOTING
MN723H-10/95 11/28/95 1:14 AM Page 98 (Black plate)