Danaher Motion SuperDrive ACS24 Series, User Manual

Page: 47 / 99

26.04.2005
Configuration & control of the AC SuperDrive
Common parameters and variable for the top three speed control modes are shown in Table 9
(for torque control it is only the parameter Speed Control Mode that is of interest).
Index Sub-
Index Name Description
2020h 1 Speed Control Mode 1 = Speed control with no ramp
2 = Not valid
3 = Torque control (Speed control disabled)
4 = Speed control with PDO controlled ramp
5 = Speed control with parameter controlled ramp
2020h 6 Best Performance Curve
Mode (Option) 0 = No BPC mode (BPC disabled)
1 = BPC mode
2 = BPC PDO mode
3 = BPC Reduction Mode
2020h 9 Automatic Drive Disable
Time 0-255s
Time before drive is disabled after standing still.
Setting the parameter to zero means no automatic
disabling.
2020h 10 Application Setup Word Bit 3 Inverted Rotational Direction
False or True.
2090h 1-2 Speed PI Controller:
P-gain Set 0-1
2091h 1-2 Speed PI Controller:
I-gain Small Set 0-1 Speed Control Mode = 1: Always used
Speed Control Mode = 4 or 5: During constant
speed
and acceleration
2092h 1-2 Speed PI Controller:
I-gain Medium Set 0-1 Speed Control Mode = 1: Not used
Speed Control Mode = 4 or 5: During rollback
2093h 1-2 Speed PI Controller:
I-gain Large Set 0-1 Speed Control Mode = 1: Not used
Speed Control Mode = 4 or 5: During standing and
deceleration
2096h 1 Internal Speed Reference Read only variable. Speed reference input to speed PI
controller (internal SW variable). Differs from
Command Speed when ramps and/or BPC is used.
Table 9. Speed Control – Parameters and Variables.
6.4.1 S
PEED RAMP
The Speed Ramp functionality is mainly described for the traction application but of course the
ramp functionality can be utilized also for the lift application.
6.4.1.1 G
ENERAL
The purpose of using a ramping of the Command Speed is to get a smooth
acceleration/deceleration, save battery lifetime and give the truck equal stop distance regardless
of load and slopes when decelerating. The speed ramp functionality is implemented before the
speed PI control, as can be seen in
Figure 22 . There are a number of parameters that can be set
for controlling the behavior of the ramp:
User's Guide 1.0 Item No.
89Y05120A
47